Fetching RTX LiDAR Point Cloud Data in Omniverse Connect Without ROS

Omniverse Isaac Sim
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1

Our objective is to fetch the RTX LiDAR point cloud data in the Omniverse Connect sample (Python) without using ROS.

We are currently using Isaac Sim 2023.1.1. Through the SDG pipeline, we are unable to access the Action Graph nodes directly from the Connect code.

Therefore, we considered running the Python API code, as shown below:

data = annotator.get_data()
print(data["data"])

However, the omni.replicator.core library is not supported in the Connect sample.

According to the documentation (Running Replicator Headlessly — Omniverse Extensions latest documentation), it is recommended to use the Omniverse Code app in headless mode to utilize the Replicator library externally.

But, Omniverse Code app is not available in the Omniverse Launcher. If it has been removed, what is the alternative?

Alternatively, is there another way to achieve our desired outcome?

Thank you for your assistance in advance!

2

Use an action graph script node inside Isaac sim

import omni.graph.core as og
point_cloud = og.Controller().node(“/Render/PostProcess/SDGPipeline/RenderProduct_Isaac_RtxSensorCpuIsaacComputeRTXLidarPointCloud”).get_attribute(“outputs:pointCloudData”).get()

print(point_cloud)

this should work