ROS1 Publish Laser Scan

This node publishes LiDAR scans as a ROS1 LaserScan message

Installation

To use this node enable omni.isaac.ros_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]
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 ROS1 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 ROS1 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
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	10
Rotation Rate (inputs:rotationRate)	float	Rotation rate of sensor in Hz	0
Timestamp (inputs:timeStamp)	double	ROS1 Timestamp in seconds	0.0
Topic Name (inputs:topicName)	string	Name of ROS1 Topic	scan

Metadata

Name	Value
Unique ID	omni.isaac.ros_bridge.ROS1PublishLaserScan
Version	2
Extension	omni.isaac.ros_bridge
Icon	ogn/icons/omni.isaac.ros_bridge.ROS1PublishLaserScan.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS1 Publish Laser Scan
Categories	isaacRos:publisher
Generated Class Name	OgnROS1PublishLaserScanDatabase
Python Module	omni.isaac.ros_bridge