RTX Lidar Config Parameters: Rotatory LiDAR with scanRateBaseHz bigger than reportRateBaseHz

Omniverse Isaac Sim
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1

Hi!!

I’m trying to set a rotatory RTX LiDAR on Isaac Sim based on RTX Lidar Config Parameters but the Isaac Sim app crashes when I use scanRateBaseHz >reportRateBaseHz (firing pattern finishes after more than one spin). If I understood right the use of theses parameters, in my application I would have to have scanRateBaseHz >reportRateBaseHz because I’m modeling a LiDAR that takes 18 spins to cycle through all elevation angles (see image bellow).

MID360original
MID360original1303×933 76.3 KB

I also tried to use the same value for both scanRateBaseHz andreportRateBaseHz (10Hz in this case), but with emitterStateCount > 1, having enough states to fill the elevation angle pattern, also with no success. Is it possible to make it work? Am I missing something?

Thanks in advance!!

2

@joe.scholtz i am just a passerby but am curious to know which version of Isaac Sim you are using?

3

I’m using version 2023.1.1

4

i see. was there any error messages/logs from the console? if inclined, you could consider uploading the most recent .log file.

https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations

5

Yes, sure! And here’s some of the parameters that I used in this case:

{
    "class": "sensor",
    "type": "lidar",
    "name": "name",
    "driveWorksId": "GENERIC",
    "profile":
    {
        "scanType": "rotary",
        "intensityProcessing": "normalization",
        "rayType": "IDEALIZED",
        "nearRangeM": 0.1,
        "farRangeM": 100.0,
        
        "startAzimuthDeg": 0.0,
        "endAzimuthDeg": 360.0,
        
        "upElevationDeg": 53.0,
        "downElevationDeg": -8.0,
        
        "rangeResolutionM": 0.002,
        
        "rangeAccuracyM": 0.03,
        
        "avgPowerW": 0.002,
        "minReflectance": 0.1,
        "minReflectanceRange": 40.0,
        "wavelengthNm": 905.0,
        "pulseTimeNs": 6,
        
        "azimuthErrorMean": 0.0,
        "azimuthErrorStd": 0.15,
        "elevationErrorMean": 0.0,
        "elevationErrorStd": 0.15, 
        
        "maxReturns": 2,
        
        "numberOfEmitters": 578,
        "reportRateBaseHz": 0.5659,
        "scanRateBaseHz": 10.0,
        "emitters": {
                "fireTimeNs": [...],
                "azimuthDeg": [...],
                "elevationDeg": [...]
        }
        "intensityMappingType": "LINEAR"
    }
}

Also, I’m checking that the length of fireTimeNs, azimuthDeg and elevationDeg are equal to numberOfEmitters; that the values of fireTimesNs are in the range [0,1e9/reportRateBaseHz]; and that the values of elevationDeg are between [up,down]ElevationDeg.

kit_20240201_120501.log (1.7 MB)

7

I was running some tests again regarding this matter and I have other results to share. I don’t know if I understood something wrong, but the LiDAR config parameters seem to have some unspecified limitations.

First, I really can’t seem to have scanRateBaseHz >reportRateBaseHz using rotatory LiDARs without making Isaac Sim crash once I play the simulation (I got it working with a solid state LiDAR using scanRateBaseHz: 10.0 and reportRateBaseHz: 0.4322 ), or even when both values are equal and between ]0;1[

What I got working was to compress my data from ~1.75s into 1s (therefore the simulation won’t match the LiDAR’s behavior) and then downsampling the data, like the figure bellow

s34_8 b1 r1 t17_5
s34_8 b1 r1 t17_51904×977 98.9 KB

Resulting in this config file

{
  "class": "sensor",
  "type": "lidar",
  "name": "name",
  "driveWorksId": "GENERIC",
  "profile": {
    "scanType": "rotary",
    "intensityProcessing": "normalization",
    "rayType": "IDEALIZED",
    "nearRangeM": 0.1,
    "farRangeM": 100.0,

    "startAzimuthDeg": 0.0,
    "endAzimuthDeg": 360.0,

    "upElevationDeg": 53.0,
    "downElevationDeg": -8.0,

    "rangeResolutionM": 0.002,

    "rangeAccuracyM": 0.03,
    "comment10": "revisar",

    "avgPowerW": 0.002,
    "minReflectance": 0.1,
    "minReflectanceRange": 40.0,
    "wavelengthNm": 905.0,
    "pulseTimeNs": 6,

    "azimuthErrorMean": 0.0,
    "azimuthErrorStd": 0.15,
    "elevationErrorMean": 0.0,
    "elevationErrorStd": 0.15,

    "maxReturns": 2,

    "numberOfEmitters": 576,
    "reportRateBaseHz": 1.0,
    "scanRateBaseHz": 1.0,
    "emitters": {
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    "intensityMappingType": "LINEAR"
  }
}

The result point cloud in rviz2:

image
image858×655 17.5 KB

But the problem persists when I downsample with less compression. So if the result config file have a "numberOfEmitters" bigger than approx 576 (like in the file bellow), Isaac Sim crashes

lidar.txt (667.9 KB)

What can I do?

8

Hi @joe.scholtz - I have reached out to Dev. He will review your issue and respond back as soon as he can.

1 Like
9

reportRateBaseHz must be a multiple of scanRateBaseHz. I also believe these should be integer values.

Also, it looks like you are trying to model a solidStateLidar with a rotary profile. I have never tried to use a 1 Hz lidar for rotary. Sort of takes the idea of spin out of it. I suggest you use solidState for that profile.

It does not crash for me when it is rotary, but it does only flash once per second, and it’s really hard to see.
Here is a solid state version of the same profile. Hopefully this will work for you.
lidar.txt (20.3 KB)

10

I just realized that the example file that I gave was not valid because I had to edit private info before sending it here, but I ended up erasing the number of emitters and other required parameters in the process. Here is the file again with which I got the error

lidar.json.txt (667.9 KB)

About your suggestion: I am really using a rotatory LiDAR, it spins at 10 Hz, but it takes 1.75 s to complete its firing pattern (like in the first figure I sent, the elevation angle period is way bigger than the azimuth angle period), but if you think it is a better idea to model it as if it were a solid state LiDAR, it is fine for me

The config file that you sent gives me almost the same point cloud as before (see fig bellow), so although there is no improvement for the moment, I’ll use that as a base file to increase the number of emitters and try to better match my LiDAR’s behavior, and then I’ll come back once I have other results. Thanks a lot!!

Screenshot from 2024-03-19 08-40-17
Screenshot from 2024-03-19 08-40-17902×662 14.7 KB

11

What model lidar are you trying to simulate?

I think you are saying that you have a lidar that spins 175 times before the pattern repeats? I don’t think we can model that type of lidar.

12

Sorry, it was a typo, I just corrected my previous answer. The LiDAR spins “17.5 times” before the pattern repeats (I wouldn’t see a problem truncating it to 17 times for my purposes), like in the first figure.

It is a Livox MID 360, I am using their Gazebo simulation as reference: Livox Laser Simulation.

13

Hi @joe.scholtz - As @mcarlson1 mentioned, we are aware of this limitation with our configurations, and that will be worked in the future.

15

I have conducted some tests on this RTX lidar system, and I will share my results with you (version 4.2 used, tested on 2024.11.22)
First, both reportRateBaseHz and scanRateBaseHz must be greater than or equal to 1,otherwise an error

777
777805×568 21.4 KB

will be reported (as shown in the figure below).

Second, reportRateBaseHz is not necessarily a multiple of scanRateBaseHz, and both must be integers.

Because scanRateBaseHz must be greater than 1, which means that a complete scan must be completed within one second, the RTX LiDAR currently cannot simulate Terrestrial Laser Scanning (as shown in the figure below), but this is exactly what I need.
6666

I have two ideas for simulating Terrestrial Laser Scanning that have not yet been implemented. The first is to set both reportRateBaseHz and scanRateBaseHz to 1, and then control the orient attribute to achieve rotation (as shown in the figure below). The second is to add multiple sets of Firing Pattern Parameter

11111
11111797×415 51.5 KB