SICK_TiM781 lidar sensor does not publish LaseScan

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: Quadro RTX 8000
  • Driver Version: 535.183.01

Topic Description

RTX Lidar sensor Sick TiM 781 provided in the assets does not publish LaserScan topic only PointCloud.

Detailed Description

Steps to Reproduce

  1. Create RTX Lidar sensor Sick Tim781 using the UI in a simple room
  2. Create Omnigraph using Tools–>ROS 2 Omnigraphs → RTX Lidar
  3. Check Laserscan topic using ros2 echo.
  4. Can see the Point Cloud data but no LaserScan data.
3

Hi @suryaveer01! Thanks for bringing this issue up. Let me reach out to our engineering team.

5

Is there any update on this issue?
Point cloud data has lot of issues. I’m hoping Laser_scan data is different and can fix some of those.

6

Hi @suryaveer01. The internal team is aware of this issue. They are still investigating it. Thanks for your patience.

7

I also encountered this issue and this is what I’ve found:

The tutorial said that “When type is set to laser_scan in the ROS2 RTX Lidar Helper node, the LaserScan message will only be published when the RTX Lidar generates a full scan”.

In isaacsim/exts/isaacsim.sensors.rtx/data/lidar_configs/SICK/SICK_tim781.json, there are

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

"emitterStates": [
  {
    "azimuthDeg": [
      45.0,
  ...

Since my target range is -135.0 ~ 135.0, I changed these to

"startAzimuthDeg": -135.0,
"endAzimuthDeg": 135.0,

I also changed azimuthDeg to 811 values with range [-135.0, 135.0].
Then it started to publish both laser_scan and pointcloud.

8

It worked. Thank you. Updated json file.
SICK_tim781.txt (41.0 KB)