Point cloud publishes at two times the frequency of depth in ROS example

Omniverse Isaac Sim
1

Note: For any Isaac Lab topics, please submit your topic to its GitHub repo (GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim) following the instructions provided on Isaac Lab’s Contributing Guidelines (Contribution Guidelines — Isaac Lab Documentation).

Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can always edit your post later to include additional information if needed.

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: GeForce RTX 3060
  • Driver Version: 535.230.02

Topic Description

Detailed Description

Following this example:

When publishing the depth image and point cloud data using:
publish_depth
publish_pointcloud_from_depth

I obtain that the frequency at which the pointcloud is published is two times the frequency of depth. I want to understand why this is happening and how I can fix it. Thank you!
If possible, I want to achieve in an efficient way the same rate of point cloud and depth.

It is possible this is something related to how the data is rendered. If so, I would like to understand this.

Steps to Reproduce

  1. Follow Publishing Camera’s Data — Isaac Sim Documentation
  2. Add in the script the publish_pointcloud_from_depth and publish_depth and uncomment the
  3. Execute the script

Additional Information

  topic           rate   min_delta   max_delta   std_dev    window

======================================================================
/camera_depth 50.59 0.0111 0.02848 0.00638 51
/camera_pointcloud 102.0 0.001436 0.02209 0.006528 51

3

Hi @jeferrandiz98 ! Thanks for bringing this issue up

I am able to replicate the issue. In my case, the depth publish frequency is 70 Hz while the point cloud publish frequency is 140 Hz.
I found out that if I comment out the publish of depth data, the publish frequency of point cloud data would be 70 Hz, which aligns with the step size in the tutorial.
I also found out that for the consecutive two point cloud data (if depth data is being published), the timestamps are the same.
So it seems that the point cloud data is being published twice while depth data is being published.

Let me reach out to our internal team to help resolve the issue.

5

Perfect! Thank you so much for reproducing the issue, let me know what the conclusion is.

6

Hi, is there any news regarding this issue? Thank you.

7

Hi @zhengwang, were you able to get more info regarding this issue? Thank you.

8

Hi @jeferrandiz98. Currently the internal team is aware of this issue and still working on fixing it.