ROS2 Publish Laser Scan

This node publishes LiDAR scans as a ROS2 LaserScan message

Installation

To use this node enable omni.isaac.ros2_bridge in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Azimuth Range (inputs:azimuthRange)

float[2]

The azimuth range [min, max] (deg). Always [-180, 180] for rotary lidars.

[0.0, 0.0]

Context (inputs:context)

uint64

ROS2 context handle, Default of zero will use the default global context

0

Depth Range (inputs:depthRange)

float[2]

Range for sensor to detect a hit [min, max] (m)

[0, 0]

Exec In (inputs:execIn)

execution

The input execution port

None

Frame Id (inputs:frameId)

string

FrameId for ROS2 message

sim_lidar

Horizontal Fov (inputs:horizontalFov)

float

Horizontal Field of View (deg)

0

Horizontal Resolution (inputs:horizontalResolution)

float

Increment between horizontal rays (deg)

0

Intensities Data (inputs:intensitiesData)

uchar[]

Intensity measurements from full scan, ordered by increasing azimuth

[]

Linear Depth Data (inputs:linearDepthData)

float[]

Linear depth measurements from full scan, ordered by increasing azimuth (m)

[]

Node Namespace (inputs:nodeNamespace)

string

Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace

Num Cols (inputs:numCols)

int

Number of columns in buffers

0

Num Rows (inputs:numRows)

int

Number of rows in buffers

0

Qos Profile (inputs:qosProfile)

string

QoS profile config

Queue Size (inputs:queueSize)

uint64

The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Only honored if ‘history’ QoS policy was set to ‘keep last’. This setting can be overwritten by qosProfile input.

10

Rotation Rate (inputs:rotationRate)

float

Rotation rate of sensor in Hz

0

Timestamp (inputs:timeStamp)

double

ROS2 Timestamp in seconds

0.0

Topic Name (inputs:topicName)

string

Name of ROS2 Topic

scan

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2PublishLaserScan

Version

2

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2PublishLaserScan.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Publish Laser Scan

Categories

isaacRos2:publisher

Generated Class Name

OgnROS2PublishLaserScanDatabase

Python Module

omni.isaac.ros2_bridge