How to Change Default Sensor Frequencies in Isaac Sim (IMU: 100Hz, LiDAR: 10Hz)

Omniverse Isaac Sim
1

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Isaac Sim Version

[v] 4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
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Operating System

[v] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
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Hello,
I’m currently working on a simulation in Isaac Sim and I noticed that the default sensor update rates appear to be fixed at 60Hz.

For my use case, I would like to adjust the frequencies as follows:

  • IMU: 100Hz
  • LiDAR: 10Hz

So far, I’ve tried modifying the Update Rate and Rotations Per Second parameters in the Inspector panel for the LiDAR sensor, but it seems the actual ROS topic publishing frequency does not reflect these changes accurately.

Could you please let me know:

  1. If there is a recommended way to manually set different frequencies per sensor?
  2. Whether overriding the sensor tick rate or using Action Graphs would help in achieving this?
  3. If this is a current limitation, are there any workarounds?

Any guidance or documentation references would be greatly appreciated.

Thank you in advance!
Best regards,

2

@yoonjw12345 i am just another user and am wondering if updating the simulation frame rate could be a consideration?

there were a few inquiries related to publishing frequency at other than the default rate of 60, below is one that may be of some relevance: