RTX Lidar drag points issue in debug view and full scan point cloud publishing

[heiscsy]

Isaac Sim Version 4.5.0
Operating System Ubuntu 22.04

I encounter this problem with RTX Lidar (Hesai 32XT). The following is the action graph

The point cloud is fine if it is publised in 60hz subsections (full scan is not enabled). But when it is published in full scan it will have drag points left in the published point cloud.

The problem also exist in debug view.

I am guessing this is a problem with IsaacCreateRTXLidarScanBuffer annotator.

Could somebody take a look at this?

Best

Yuhan

[zhengwang]

Hey @heiscsy thanks for bringing up this issue! I am able to replicate it. Let me pass it to our internal team.

[rodscoimbra]

I’m having the same problem. Have there been any updates or solutions for this?

[heiscsy]

No good solutions yet.
What I am doing is not using full scan mode. I wrote an extra node to collect 6 scans of lidar point cloud segments and merge them together. In this way I can mimic a lidar that send full scan out.