The difference between physx lidar and rtx lidar

Omniverse Isaac Sim
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I want to know the difference between physx lidar and rtx lidar. why physx lidar is “Lidar” type in stage,but rtx lidar is “camera” type , and I can’t find where to set the parameters.(I know from the documentation that it can be set via a json file, but I don’t understand why this is done instead of the same as physx lidar)

I use the Navigation2 demo in isaac sim, and i want to replace the lidar with rtx lidar, what should I do？I also want to know how to draw line and draw point with rtx lidar in scenes？

Thanks！

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Hi @mmmmark -

  1. PhysX Lidar: This is a standard Lidar sensor model, it works by sampling points in a 3D space and collecting information such as distance, intensity, etc. This model uses Nvidia’s PhysX engine to perform raycasting and get results of detection.
  2. RTX Lidar: This lidar model uses Nvidia’s RTX real-time raytracing technology, it also performs raycasting but takes advantage of the RTX GPU’s real-time ray tracing capabilities to provide a more detailed and accurate point cloud.

You can refer more information about sensors here: Sensors Simulation — Omniverse IsaacSim latest documentation

This tutorial of Nav2 uses carter and carter by default uses RTX lidar. 7.2.7. ROS2 Navigation — Omniverse IsaacSim latest documentation

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So their underlying principles are different. But as a user, which one should I use better? Why.

Or are they the same to users, you can choose any one

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