In this example shown here (RTX Lidar Action Graph Overview — Isaac Sim Documentation) or standalone_examples/api/isaacsim.ros1.bridge/rtx_lidar.py , the RTX lidar is simulated and 2 topics are publised - laser_scan and point_cloud . I see intensities in the laser_scan but not in point_cloud . Is there a way to also publish the simulated intensities into ROS via a pointcloud?
Unfortunately the publish point cloud node doesn’t publish intensity data. Maybe you can refer to this post and try to write your own node to publish intensity data.
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