Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
GPU Information
- Model: RTX 4090 Laptop running directly on the hardware, no container or remote connection
- Driver Version: NVIDIA-SMI 550.144.03
Topic Description
Detailed Description
I would like to add the radar rtx sensor to a robot and have it move around and detect things, just like a camera does move around with the robot if its in the same folder (prim?!). Unfortunately weird things happen when i add the radar sensor as described in this tutorial (RTX Radar Sensor — Isaac Sim Documentation). I modified the example script ( ./python.sh standalone_examples/api/isaacsim.util.debug_draw/rtx_radar.py) to load in the warehouse with a turtlebot burger, both from Isaac Sim Assets. I add the radar sensor to the robot as a parent (path turtlebot3_burger/base_footprint/radar_sensor). I add a vertical offset of 0.5m to avoid any possible interference with the robot. The model loads fine (see screenshots) and the sensor is positioned correctly above the robot, but no matter what orientation i pass to it in the example script, be it quaternion or a custom euler converted to quaternion, i cant get it to align with the robots forward direction (where the wheels are). If i don’t pass any orientation in the startup script, and change the euler angles afterwards in the GUI, the detected points do not align with the obstacles in the warehouse (see screenshots). I suspect something is off with the visualization regarding quaternion/euler angles but i don’t know what and how to debug it. Also its a bit weird that the radar sensor does not show up as the gray ‘VHS-style camera’ as other cameras do, which would really help with debugging.
I’d be very thankful for any help. Its relatively easy to reproduce but my isaac sim debugging knowledge is limited, and i suspect something under the hood is not working as intended.
Steps to Reproduce
- Load the warhouse example
- Add a turtlebot3_burger model
- Save both as one USD
- Modify the example radar script to load this created USD and put radar in robot prim (parent)
- For exact screenshots as below: comment out the “orientation=Gf.Quatd(0.7071, 0, 0, 0.7071),” line, or pass in any values you think make sense, issue persists for me)
- Start the script
- Observe where the detected radar points are and try to ‘fix’ the orientation through the GUI of the radar properties
Screenshots or Videos
(note the radar detection dot positions, third image is modified z angle of radar by 90d)
