Problem with RTX-Radar in Isaac Sim 2022.2.1

Omniverse Isaac Sim
, ,
1

Hi there,

I’ve been trying to use a RTX-Radar model with a standalone python app in Isaac Sim 2022.2.1 and publish the point-cloud to ROS2.

I should mention that I’m using the json config file provided in the installation directory under omni.sensors.nv.radar.
The following command creates the Radar model in my script:

        _, self.sensor = omni.kit.commands.execute(
            "IsaacSensorCreateRtxRadar",
            path=path,
            parent=None,
            config=config,
            translation=translation,
            orientation=orientation,
        )

combined with a function to publish the point-cloud to ROS2:

    def publish_PointCloud(
            self,
            ):
        """Publish Point Cloud Data

        """

        topic_name = self.name  +"/pointcloud"
        frame_id = self.name  # This matches what the TF tree is publishing.
    
        # Create Point cloud publisher pipeline in the post process graph
        writer = rep.writers.get("RtxRadar" + "ROS2PublishPointCloud")
        writer.initialize(topicName= topic_name, frameId=frame_id)
        writer.attach([self.render_product ])

        # Create the debug draw pipeline in the post process graph
        writer = rep.writers.get("RtxRadar" + "DebugDrawPointCloud")
        writer.attach([self.render_product ])

It works BUT something is off: it seems like the background has an effect on the published point-cloud.

Basically, when the background is turned off, the point-cloud looks realistic and matches quite well the overall shapes and movements of objects in the scene:

Radar_PointCloud_HintergroundAusgeblendet

But when it is turned on, then the point-cloud is distorted, not consistently published and not following the movements of objects in the scene:

Radar_PointCloud_HintergroundEingeblendet

Any idea why it happens ?

3

We have not tested or used the RTX Radar enough to support it in IsaacSim yet, so you will likely run in to various problems while you try to use it. It’s not included in the documentation for this reason.

Good luck!