How to get radial velocity and distance data of radar

[samarth.shukla]

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

• Model: NVIDIA GeForce RTX 3090
• Driver Version: 570.190

Topic Description

Detailed Description

In Isaac Sim 4.5, we successfully accessed specific radar components—specifically radialVelocity, radialDistance, and rcs—from the annotator data. We achieved this using the accumulator RtxSensorCpuIsaacComputeRTXRadarPointCloud.

The RtxSensorCpuIsaacComputeRTXRadarPointCloud accumulator appears to be deprecated in version 5.0. We have switched to using IsaacExtractRTXSensorPointCloudNoAccumulator, but we are unable to retrieve the radialVelocity and rcs data fields that were previously exposed.

How exactly do we access radialVelocity and rcs data in the Isaac Sim 5.0 RTX Radar pipeline?

1. Is there a specific parameter or flag I need to enable on the IsaacExtractRTXSensorPointCloudNoAccumulator node?

2. Do I need to route the data through a different writer or node to expose these specific velocity vectors?

   
   

This is the screenshot from 4.5 version accessing the radial velocity data, which we need to access in 5.0 version

[zhengwang]

Is this what you are looking for?

RadarAuxiliaryData - GenericModelOutput — Isaac Sim

[samarth.shukla]

Thank you @Zhengwang I was looking for this, as we have not heard back, we also raised this request again.

https://forums.developer.nvidia.com/t/velocity-speed-data-from-sensors/353409

You can check this issue for better understanding.

[zhengwang]

@samarth.shukla it looks like the crash is a separate issue. Have you opened a new discussion?
This is for better tracking purpose.
Let me mark this topic as solved