Hey there i am working on a small amr project tht i wannagoo for SICK_microScan3_Profile_5_9.0m_25.0Hz.usd i am not able to get it working

Omniverse Isaac Sim
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I am working on an AMR project (idealworks iw.hub) using Isaac Sim 5.1.0 and ROS 2 Humble. I am attempting to simulate a dual-diagonal LiDAR setup using the official SICK microScan3 Profile 5 USD assets.

The Setup:

  1. Action Graph: On Playback Tick → Isaac Run One Simulation Frame → Isaac Create Render Product (1x1 resolution) → ROS2 RTX Lidar Helper (type: laser_scan).

  2. Sensor Config: The SICK prim is set to ROTARY scan type with an azimuthRange of [-137.5, 137.5] (275° sweep).

  3. Action Graph Settings: Publish Full Scan is enabled to match the rotary scan type.

  4. ROS 2: Standard ROS2 Context (Domain 0) is connected.

The Problem: When I run the simulation:

  • ros2 topic list correctly shows the topics (e.g., /lidar_front/scan).

  • ros2 topic info shows 1 publisher and the correct message type (sensor_msgs/msg/LaserScan).

  • HOWEVER, ros2 topic echo returns absolutely no data. The terminal stays blank.

What I’ve Checked:

  • I have verified there are no global Action Graph errors (all Articulation and steering errors are cleared).

  • I’ve tried toggling between SOLID_STATE and ROTARY.

  • I’ve verified the cameraPrim path in the Render Product node is correct.

  • I have tried using --qos-profile sensor_data in the terminal to rule out QoS mismatches.

Is there a known issue with the SICK microScan3 USDs or the OgnROS2PublishLaserScan node in 5.1.0 where it fails to calculate the angle_increment or timing for 2D LaserScan messages? Any advice on how to force the data to publish would be appreciated!

and by the way bridge is working even topic name is apearing in the ros2 topic list but no data is being received

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Duplicate. This is the same issue as:

Closing this thread; please continue the discussion there.