I used this tutorial to publish camera data with ros1:
https://docs.omniverse.nvidia.com/isaacsim/latest/ros_tutorials/tutorial_ros_camera_publishing.html
So far so good, I used these functions and can visualize the data in rviz:
publish_camera_tf(camera)
publish_camera_info(camera, approx_freq)
publish_rgb(camera, approx_freq)
publish_pointcloud_from_depth(camera, approx_freq)
but when i echo the topic containing the pointcloud (rostopic echo /camera_pointcloud --noarr) i noticed that the cloud is unorganized:
header:
seq: 9339
stamp:
secs: 311
nsecs: 383349573
frame_id: “floating_camera”
height: 1
width: 65536
fields: “<array type: sensor_msgs/PointField, length: 3>”
is_bigendian: False
point_step: 12
row_step: 786432
data: “<array type: uint8, length: 786432>”
is_dense: True
since i want to simulate a real camera which provides organized pointclouds I am trying to find a way to do so in IsaacSim. Can i modify the script to publish an organized pointcloud? Or is there a way to convert the unorganized pcl to an organized one? Haven’t found anything in the official documation. Could u provide some leads or solutions?