Sensor Synchronisation and Frequency Setup

Omniverse Isaac Sim
1

Hi,

I am trying simulate sensor data (camera, IMU and lidar) in Isaac SIM to publish to ROS in a standalone workflow. Is there support to sync publication times, and also manually adjust the frequency? (Eg. I would like the IMU to publish at 400 Hz, and lidar at 10 Hz)

Thanks!

3

According to this, Isaac SIM should run in real time but with the standalone example

while True: 
        print('Sim {} Real {}'.format(delta world.current_time, delta time.time()))
        # Some synchronous code here
       world.step()

Isaac SIM Seems to override the system time to keep 60Hz physics stepping. Is there a overview document or explanation of how timing works in general?

6

Hi - Sorry for the delay in the response. Let us know if you still having this issue with the latest Isaac Sim 2022.2.1 release.