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
Hey @heiscsy thanks for bringing up this issue! I am able to replicate it. Let me pass it to our internal team.
I’m having the same problem. Have there been any updates or solutions for this?
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.
Could you please share your code snippet? Also does this require for isaac sim dt to be at 60 Hz?
This issue should be resolved in Isaac Sim 5.0. Please stay tuned for the new release.
