ROS2 RTX Lidar Helper

Handles automation of Lidar Sensor pipeline

Installation

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

Inputs

Name	Type	Descripton	Default
Context (inputs:context)	`uint64`	ROS2 context handle, default of zero will use the global context	0
Enabled (inputs:enabled)	`bool`	True to enable the lidar helper, False to disable	True
Exec In (inputs:execIn)	`execution`	Triggering this causes the sensor pipeline to be generated	None
Frame Id (inputs:frameId)	`string`	FrameID for the ROS2 message, the nodeNamespace will not be prefixed to the frame id	sim_lidar
Frame Skip Count (inputs:frameSkipCount)	`uint`	Specifies the number of simulation frames to skip between each message publish. (e.g. Set to 0 to publish each frame. Set 1 to publish every other frame)	0
Publish Full Scan (inputs:fullScan)	`bool`	If True publish a full scan when enough data has accumulated instead of partial scans each frame. Supports point cloud type only	False
Node Namespace (inputs:nodeNamespace)	`string`	Namespace of ROS2 Node, prepends and published/subscribed topic by the node namespace
Qos Profile (inputs:qosProfile)	`string`	QoS profile config
Queue Size (inputs:queueSize)	`uint64`	Number of message to queue up before throwing 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
Render Product Path (inputs:renderProductPath)	`token`	Name of the render product path to publish lidar data
Reset Time On Stop (inputs:resetSimulationTimeOnStop)	`bool`	If True the simulation time will reset when stop is pressed, False means time increases monotonically. This setting is ignored if useSystemTime is enabled.	False
Show Debug View (inputs:showDebugView)	`bool`	If True a debug view of the lidar particles will appear in the scene.	False
Topic Name (inputs:topicName)	`string`	Topic name for sensor data	scan
Type (inputs:type)	`token`	Data to publish from node	laser_scan
	Metadata	allowedTokens = laser_scan,point_cloud
Use System Time (inputs:useSystemTime)	`bool`	If True, system timestamp will be included in messages. If False, simulation timestamp will be included in messages	False

Metadata

Name	Value
Unique ID	omni.isaac.ros2_bridge.ROS2RtxLidarHelper
Version	1
Extension	omni.isaac.ros2_bridge
Icon	ogn/icons/omni.isaac.ros2_bridge.ROS2RtxLidarHelper.svg
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 RTX Lidar Helper
Categories	isaacRos2
Generated Class Name	OgnROS2RtxLidarHelperDatabase
Python Module	omni.isaac.ros2_bridge