I am using Isaac Sim 2022.2.1 and it is still unclear what’s the way to limit the Lidar rendering rate and publication rate.
The examples for camera camera_manual.py and camera_periodic.py are very informative, albeit the part about accessing the IsaacSimulationGate of the pipelines is not explained, and I am having trouble figuring out how to apply it to the RTX Lidar.
In our case we need high frequency physics (>= 500Hz) but rendering can be 60FPS or lower.