ROS1 RTX LiDAR python example

[rbelshaw]

Hi I’m having the same issue with incomplete scans as found in this thread:

Publishing rate of RTX lidar

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.

I haven’t been able to find docs on how to use the RTXLidarScanBuffer with a ROS1 Publish Pointcloud node. I am using the OS13220hz1024res sensor config. Ideally I would like to know how to modify the rtx_lidar.py standalone example to use a buffer so the published cloud is always a complete 360 scan.

[rthaker]

Hi @rbelshaw - If you have the same issue, that thread was resolved with the answer, didn’t that work for you?

Also, have you reviewed this doc? RTX Lidar Nodes — Omniverse IsaacSim latest documentation