ROS1 RTX Lidar Helper

Handles automation of Lidar Sensor pipeline

Installation

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

Inputs

Name	Type	Descripton	Default
Enabled (inputs:enabled)	`bool`	True to enable the lidar helper, False to disable	True
Exec In (inputs:execIn)	`execution`	Triggering this causes the sesnor pipeline to be generated	None
Frame Id (inputs:frameId)	`string`	FrameID for the ROS1 message, the node namespace will 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 ROS1 Node, prepends and published/subscribed topic by the node namespace
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	10
Render Product Path (inputs:renderProductPath)	`token`	Name of the render product path to publish lidar data
Reset Simulation 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 publsih 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.ros_bridge.ROS1RtxLidarHelper
Version	1
Extension	omni.isaac.ros_bridge
Icon	ogn/icons/omni.isaac.ros_bridge.ROS1RtxLidarHelper.svg
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS1 RTX Lidar Helper
Categories	isaacRos
Generated Class Name	OgnROS1RtxLidarHelperDatabase
Python Module	omni.isaac.ros_bridge