Distortion of 3DLidar scan

Omniverse Isaac Sim
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1

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: Quadro RTX 6000
  • Driver Version: 650.35.03
  • CUDA 12.6

Topic Description

Detailed Description

I’m simulating an RTX LiDAR sensor(Rotary type) in Isaac Sim and publishing its output over ROS2, visualized via RViz. However, the point cloud appears heavily distorted: points seem smeared, lingering across frames, or misplaced relative to the sensor motion (see screenshot). In RViz, the scan clusters resemble curved stripes or persistent tails rather than a clean scan sweep.

Steps to Reproduce

  1. Create a rotating RTX LiDAR prim (e.g. via omni.isaac.range_sensor) with your chosen rotation rate.
  • Use IsaacReadRtxLidarPointData or ROS bridge to publish sensor data as PointCloud2.
  • Visualize in RViz.
  • Rotate or move the LiDAR sensor during simulation.
  • Observe distortions persisting across frames or smeared trailing points.

Observations:

Screenshot from 2025-08-06 14-10-29
Screenshot from 2025-08-06 14-10-291366×669 156 KB

2

@chiragkumar.makwana i am just another user, but have you tried upgrading to preview 5.0 or 4.5.0? i am asking because 4.2.0 is reaching its EOL, and newer versions may have this addressed in one of the bug fixes.

1 Like
4

Hi @chiragkumar.makwana that was a known issue and it is resolved in Isaac sim 5.0. Please try our latest version! Thanks!