Solid State RTX Lidar Config

Omniverse Isaac Sim
5

Hey @mcarlson1!
First of all, many thanks to your reply! It has been really resourceful. Also, sorry for my late response, I was experimenting with the RTX Lidar so that I can get back to you with more understanding.

I might have a few more doubts.

  • scanRatesHz: It appears that I cannot skip the scanRatesHz because it raises an error and the app crashes.

    [Warning] [lidar.lidarprofilereader] Member scanRatesHz not found or not an array!
[Error] [lidar.lidarprofilereader] Not a valid primary profile
[Warning] [omni.drivesim.sensors.nv.lidar.lidar_core.plugin] No valid ray type in the lidar profile.

    Anyways, I created a list with the frequency value in it.

  • Extension Scripting: I tried to use the script in the documentation in one of my extensions but the render product was not being attached. I created a seperate post here. I tentatively solved it, but would be helpful if you could explain why it wouldn’t work the way I tried.

  • Pointcloud Generation Rate: I now attach the ROS1PublishPointCloud OGN to the post-process SDG Pipeline. I was just curious to know how I can modify anything such that the pointcloud will be published only after a full scan (in my case 5000 points in a ROS msg published at 10Hz)

  • AOVs and MDL: What should I add in the SDG Pipeline to access the AOVs like the surface normal and the MDL info at the point of intersection apart from the x,y,z co-ordinates

  • Intensity Mapping Type: What are the possibilities other than “LINEAR”?

PS: I am trying to model a LiDAR with high fidelity and I am exploring how I can leverage the power of RTX LiDAR. This is why I want to dig deep into what all the config parameters mean and how we can use them.

Thanks in advance for your reply!