Hi,
I created a custom 3D LiDAR using Create -> Isaac -> Sensor -> PhysXLidar -> Rotating in Isaac Sim. I want to set an asymmetric vertical FOV (e.g., -10° to +30°), but it seems to only allow symmetric FOV (like -30° to +30°).
Is there a way to configure separate min and max vertical angles for the rotating PhysX LiDAR?
Hi @shailesh.pawar. Yes you are right. According to the API documentation for RangeSensorCreateLidar, it only takes in one value for vertical_fov. So you will not be able to set asymmetric vertical FOV. Is there a reason that you want to do asymmetric vertical FOV?
Hi @zhengwang ,
Thanks for the clarification earlier. I understand the current limitation with symmetric vertical FOV in PhysX Rotating LiDAR. However, I’d like to point out that there are multiple 3D LiDARs available—such as the Vanjee 722WLR—that have asymmetric vertical FOVs (e.g., from +50° to -12°). Is there any recommended approach in Isaac Sim to simulate such configurations?
Additionally, I would like to expose the PhysX LiDAR data over ROS 2. Could you please share any references or examples for this?
Also, I’d like to know how to simulate a custom 3D LiDAR with asymmetric vertical FOV using RTX LiDAR, and how to expose that data over ROS 2 as well.
Appreciate your help!
Thanks! Have you checked out this tutorial PhysX SDK Generic Sensor — Isaac Sim Documentation? This should allow you customize lidar pattern.
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