How to setup RTX Lidar to work like PhysX Lidar?

Omniverse Isaac Sim
1

Hi,
PhysX Lidar doesn’t work properly in my case, so I am trying to use RTX Lidar. Unfortunately, RTX Lidar behaves differently - it rotates with the robot model, and I can’t see the laser beams in the simulation. Is it possible to achieve the same results as PhysX Lidar using RTX Lidar? I will be grateful for help.

2

Here are the Physics based lidars: Physics Based Sensors — Omniverse IsaacSim latest documentation

When you say it doesn’t work, can you elaborate on that further?

3

When I add a PhysX Lidar to my model, it sends a laser scan to RViz2, but the beams in the simulation are distorted, arranging into something like a cone. Unfortunately, this makes the laser scan image in RViz2 bad.