Questions regarding [ROS2 Setting Publish Rates] tutorial

[hyoungmin94]

https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_publish_rate.html#setting-publish-rates-for-nodes-within-sdg-pipeline

Why is the step attribute of the lidar action graph set to 12??

[Sirens_uk]

I think i answered you in the discord but again for here.

The sim step is 60 fps

The lidar will have a scan speed fo 5 Hz or it takes 0.2 seconds to do a full scan.

5 x 12 = 60

This will make sure that a full scan is published every 5 Hz rather than doing every 60th then only returning partial scans.

:)

[VickNV]

Thank you for bringing this to our attention. The frameSkipCount should be set to 11 instead of 2. A documentation update will be included in the next release.