Radar Sensor Is Not Working

[phenomenon167]

Isaac Sim Version

4.2.0
Ubuntu 22.04

Topic Description

Detailed Description

I implemented an RTX Radar Sensor and both of DebugDrawPointCloud and ROS2PublishPointCloud writers’ output are completely wrong. The radar points are not shown on the correct place. Simply put, radar sensor does not work at all. I tried multiple config files like Conti_ARS430 ARS540 and Hella_GEN6. I tested the radar in two computers and it didn’t work in either of them. The only scenario it works is the rtx radar headless script that is available in Isaac Sim. Even though my code is completely same with the rtx_radar.py file, the radar sensor does not work. Did anybody have the same problem? Is this why radar config files are hidden inside and there is not a lot of documentation about how to use it? I just found something that may be causing it.
Using User-specified coordinate frame quaternion (0.000000, 0.000000, 0.000000, 1.000000) in RTXSensor
The radar problem seems to be frame-related too. My problem is that how can I change the writer so it accepts the frame quaternion as input or calculates it correctly.

Steps to Reproduce

, sensor = omni.kit.commands.execute(
“IsaacSensorCreateRtxRadar”,
path=“/sensor”,
parent=None,
config=radar_config,
translation=(0, 0, 1.0),
orientation=Gf.Quatd(0.70711, 0.0, 0.0, 0.70711),
)
hydra_texture = rep.create.render_product(sensor.GetPath(), [1, 1], name=“Isaac”)

simulation_context = SimulationContext(physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, stage_units_in_meters=1.0)
simulation_app.update()

writer = rep.writers.get(“RtxRadar” + “DebugDrawPointCloud”)
writer.attach([hydra_texture])

[VickNV]

@phenomenon167

The only scenario it works is the rtx radar headless script that is available in Isaac Sim. Even though my code is completely same with the rtx_radar.py file, the radar sensor does not work.

Could you elaborate on this? How can we reproduce the issue?

[phenomenon167]

I use the exact same code that is available in the rtx_radar.py example that is available in Isaac Sim. That example works fine, but when I add a radar with the code I have given above in a new scene(Isaac Sim is not headless, I use the IsaacSim VSCode extension to run the script directly ). Both writer = rep.writers.get(“RtxRadar” + “DebugDrawPointCloud”) and writer = rep.writers.get(“RtxRadar” + “ROS2PublishPointCloud”) output points that are wrong. When I move my radar sensor laterally, even though the object that was in front of it is now on its right or left, the visualization in RVIZ2 is still in front of vehicle. I double checked my transform tree and the problem is not caused by it. DebugDrawPointCloud does not draw the points on correct places either.