# RGB Pointcloud

**URL:** <https://forums.developer.nvidia.com/t/rgb-pointcloud/196089>\
**Category:** Isaac Sim\
**Tags:** sensor, ros, camera\
**Created:** [November 24, 2021, 8:18am UTC](https://forums.developer.nvidia.com/t/rgb-pointcloud/196089 "2021-11-24T08:18:07Z")\
**Posts on this page:** 6\
**Page:** 1

<div class="post-metadata">

**Author:** ![chr1s](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@chr1s](https://forums.developer.nvidia.com/u/chr1s)\
**Post date:** [November 24, 2021, 8:18am UTC](https://forums.developer.nvidia.com/t/rgb-pointcloud/196089/1 "2021-11-24T08:18:07Z")

</div>

Hello,

thank you for fixing the ROS Camera Pointcloud Publisher in the latest release!  
How i see it, it’s only possible to publish a mono Pointcloud while i need a RGB Pointcloud.

There is a workaround with [http://wiki.ros.org/image\_proc](http://wiki.ros.org/image_proc) or probably PCL, too. This works, however it is quite resource-intensive.

Therefore my question: Is it possible to publish a RGB Pointcloud natively from Isaac Sim?  
Otherwise i would appreciate it if it would be added in a future release.

Thanks!

---

<div class="post-metadata">

**Author:** ![Hammad\_M](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/hammad_m/32/14047_2.png) [@Hammad\_M](https://forums.developer.nvidia.com/u/Hammad_M)\
**Post date:** [November 24, 2021, 6:11pm UTC](https://forums.developer.nvidia.com/t/rgb-pointcloud/196089/2 "2021-11-24T18:11:04Z")

</div>

Not currently possible, but I added to our feature tracker. Its technically not difficult and we’ll see what we can do in the short term.

---

<div class="post-metadata">

**Author:** ![chr1s](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@chr1s](https://forums.developer.nvidia.com/u/chr1s)\
**Post date:** [November 24, 2021, 6:34pm UTC](https://forums.developer.nvidia.com/t/rgb-pointcloud/196089/3 "2021-11-24T18:34:49Z")

</div>

Sounds good, thank you!

---

<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/system/32/68080_2.png) [@system](https://forums.developer.nvidia.com/u/system)\
**Post date:** [December 8, 2021, 6:35pm UTC](https://forums.developer.nvidia.com/t/rgb-pointcloud/196089/4 "2021-12-08T18:35:18Z")

</div>

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.

---

<div class="post-metadata">

**Author:** ![Andrey1984](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/andrey1984/32/14130_2.png) [@Andrey1984](https://forums.developer.nvidia.com/u/Andrey1984)\
**Post date:** [January 26, 2022, 12:17am UTC](https://forums.developer.nvidia.com/t/rgb-pointcloud/196089/5 "2022-01-26T00:17:49Z")

</div>

@Hammad_M  
any update regarding ROS pointcloud importing into isaac sim somehow?

---

<div class="post-metadata">

**Author:** ![Hammad\_M](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/hammad_m/32/14047_2.png) [@Hammad\_M](https://forums.developer.nvidia.com/u/Hammad_M)\
**Post date:** [February 18, 2022, 7:10pm UTC](https://forums.developer.nvidia.com/t/rgb-pointcloud/196089/6 "2022-02-18T19:10:22Z")

</div>

Were in the process of re-writing the ROS bridge in OmniGraph to allow arbitrary data to be published and subscribed from inside of sim. It will be possible to define custom nodes to render/visualize data in the viewport.