# Is it possible to subscribe to a point cloud and visualize it using the ROS 2 Generic subscriber?

**URL:** <https://forums.developer.nvidia.com/t/is-it-possible-to-subscribe-to-a-point-cloud-and-visualize-it-using-the-ros-2-generic-subscriber/314518>\
**Category:** Isaac ROS\
**Created:** [November 24, 2024, 3:03pm UTC](https://forums.developer.nvidia.com/t/is-it-possible-to-subscribe-to-a-point-cloud-and-visualize-it-using-the-ros-2-generic-subscriber/314518 "2024-11-24T15:03:58Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![Jackthe](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@Jackthe](https://forums.developer.nvidia.com/u/Jackthe)\
**Post date:** [November 24, 2024, 3:03pm UTC](https://forums.developer.nvidia.com/t/is-it-possible-to-subscribe-to-a-point-cloud-and-visualize-it-using-the-ros-2-generic-subscriber/314518/1 "2024-11-24T15:03:58Z")

</div>

I am currently working on visualizing the position and point cloud extracted from a visual SLAM in Isaac Sim in real-time, with a given robot model. The SLAM runs on a separate machine and sends messages via two topics (posestamped | pointcloud2). I know this is a visualization task, but I chose Isaac Sim because I plan to further develop the project later. My question is whether it is possible to achieve this using the ROS 2 Generic subscriber, so that after starting the simulation, I can somehow visualize the elements of the point cloud. Thanks in advance for your help!

---

<div class="post-metadata">

**Author:** ![Raffaello](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/raffaello/32/15508_2.png) [@Raffaello](https://forums.developer.nvidia.com/u/Raffaello)\
**Post date:** [November 25, 2024, 3:59pm UTC](https://forums.developer.nvidia.com/t/is-it-possible-to-subscribe-to-a-point-cloud-and-visualize-it-using-the-ros-2-generic-subscriber/314518/2 "2024-11-25T15:59:36Z")

</div>

Hi @Jackthe

Welcome to the Isaac ROS forum

> [@Jackthe](#):
>
> My question is whether it is possible to achieve this using the ROS 2 Generic subscribe

Which topic are you discussing? Are you referring to `posestamped`?  
If true you can visualize from rviz2

You can also use [foxglove](https://foxglove.dev/)

---

<div class="post-metadata">

**Author:** ![Jackthe](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@Jackthe](https://forums.developer.nvidia.com/u/Jackthe)\
**Post date:** [November 25, 2024, 4:39pm UTC](https://forums.developer.nvidia.com/t/is-it-possible-to-subscribe-to-a-point-cloud-and-visualize-it-using-the-ros-2-generic-subscriber/314518/3 "2024-11-25T16:39:33Z")

</div>

Hi Raffaello!

I managed the posestamped part. I want to visualize the PointCloud2 type message in Isaac sim. Not in Rviz not in foxglove (which is pretty good). And in real time. How can i do it? Can i doit with Isaac Debug Draw Point Cloud? And if i can then how to start it?

Thanks in advance!  
Jack