When testing the pointcloud publish of LiDAR on Windows, it was found that Isaac Sim 4.2.0 seemed to have serious performance issues on the Windows platform.
As shown in the video, the frame rate FPS drops significantly and is very unstable.
My guess is that there is a problem with the development of ROS2 RTX Lidar Helper. Previous versions did not have this performance issue, and I hope to fix it as soon as possible. I also hope to bring the strength information of point_clouds as soon as possible.
Thank you very much!
Hello. I encountered the same problem on Isaaс 5.1. Could you please tell me if you found a solution to this problem?
In the state it works now - using lidar is not useable at all.
To summarize, the problem is that the FPS drops significantly after starting the simulation. The video card and processor are only loaded at 10-15%, so this is not a problem with the hardware itself.
Please give me some recommendations on how to solve the problem. Thank you.
Hi @Vulcan.Shao and @rphm,
Apologies for the very late response on this thread.
This performance issue has been addressed in Isaac Sim 6.0.0 Early Developer Release 2 (v6.0.0-dev2, released March 16, 2026). The key change: RTX sensor scan accumulation and post-processing have been moved from GPU back to host by default, which eliminates the GPU pipeline contention that caused the FPS drops you’re both seeing — including the low GPU utilization despite poor frame rates.
Additional related fixes in dev2:
- Fixed point cloud flickering and broken scans
- Fixed segfault when running multiple lidars with full-scan processing
Release notes: Release Notes — Isaac Sim Documentation
@rphm — regarding your observation that GPU/CPU are only loaded 10–15%: this was caused by the GPU stalling on synchronization between the render pipeline and the on-GPU scan buffer processing, which has now been resolved by moving that work to the host.
Could you both try v6.0.0-dev2 and let us know if this resolves the performance issue?
Additionally @Vulcan.Shao — your request for intensity data in point clouds has also been addressed: RTX Lidar metadata (including intensity) can now be included in ROS 2 PointCloud2 messages in 6.0.0.
Following up — Isaac Sim 6.0.0 is now available with the fixes described above. If the LiDAR performance issue is resolved on your end, no further action is needed.
For future Isaac Sim questions, we now use GitHub Discussions as the primary support channel.
Closing this topic.