How to draw rays/points in IsaacSim 5.0.0 with RTX Lidar Example_Rotary_2d

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Hello everyone

I’m sorry if this is a stupid question but I have difficulties setting my RTX Lidar properly.

First, I’m using IsaccSim 5.0.0 on Ubuntu 22.04
In my stage I have a model with 4 RTX Lidar Example_rotary_2d placed in the front/left/right/rear of the model. I’ve edited the lidar startAzimuthOffset, validStartAzimuthDegree and validEndAzimuthDegree in order to not have a 360 degree Lidar sensor.

Right now I’m using RViz with LaserScan in order to see what/where the 4 lidar are hitting but the result doesn’t seems right.
It would be easier if I could see the laser beam directly inside IsaacSim but I’m not seeing any DrawLines or equivalent attribute.

Can you please tell me how to do it? Is there a way to visualize the Lidar beam?

Just to add some context my model has been added to the stage as a reference and the model in my USD file is facing -Y axis.

I really thank you in advance for your help.

How to draw lines and points of RTX lidar in Isaac Sim?
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Hi @ludokun! You can check out this tutorial for RTX Lidar.

There are a few standalone example you can refer to, for example, standalone_examples/api/isaacsim.ros2.bridge/rtx_lidar.py.

In this example, it creates both the point cloud debug draw pipeline and laser scan debug draw pipeline in Isaac Sim using Isaac Debug Draw Point Cloud.

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Hi
Thank you for your reply and sorry for the delay.
I’ve checked the link you provided.

I’ve copied the standalone_examples/api/isaacsim.ros2.bridge/rtx_lidar.py content and paste it to the Window/Script Editor but after clikcing on the Run button, I’ve got the following error:
ImportError: cannot import name ‘SimulationApp‘ from ‘isaacsim‘ (unknown location)

The script should be run in another way?

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Hi @ludokun, the rtx_lidar.py is a standalone example and you don’t need to start the Isaac Sim GUI first to run it.
You need to use python.sh to run it.
./python.sh /path/to/isaacsim-5.0.0/standalone_examples/api/isaacsim.ros2.bridge/rtx_lidar.py

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