How publish the topic of ultrasound sensors to ROS?

How do I publish the data topic of ultrasound sensors to ROS? I can’t find the method of publishing ultrasound in the action graph

Hi @litao_bate - Try this documentation: PhysX Range Sensors (Lidar, Ultrasonic, Generic Range) — Omniverse IsaacSim latest documentation

I have seen this document, but there is no way to publish ultrasound information to ROS. For example, cameras and lidar sensors have action graph nodes that can be published to ros, but ultrasound sensors do not. I tried to post the ultrasound sensor as lidar, but suggested that the target prim was not Lidar

Maybe you can write an additional node to subscribe the LaserScan msg and convert it to a Range msg(only remain min distant)