# Vizualizing real world ROS2 lidar point clouds in Isaac sim

**URL:** <https://forums.developer.nvidia.com/t/vizualizing-real-world-ros2-lidar-point-clouds-in-isaac-sim/323187>\
**Category:** Isaac Sim\
**Tags:** ros-2-humble, isaac-sim-v4-2-0, ubuntu\
**Created:** [February 10, 2025, 2:49pm UTC](https://forums.developer.nvidia.com/t/vizualizing-real-world-ros2-lidar-point-clouds-in-isaac-sim/323187 "2025-02-10T14:49:30Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![Raedrus02](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@Raedrus02](https://forums.developer.nvidia.com/u/Raedrus02)\
**Post date:** [February 10, 2025, 2:49pm UTC](https://forums.developer.nvidia.com/t/vizualizing-real-world-ros2-lidar-point-clouds-in-isaac-sim/323187/1 "2025-02-10T14:49:30Z")

</div>

I want to display the laser scan points from ROS2 that are normally visualized in Rviz in Isaac Sim instead. I tried to search for methods and pioneers that had done this, but to no avail. What I’ve tried is to make an omnigraph to connect a subscriber node to the debug draw node.

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/3/1/5/3156eb590793e62be775ebe68cdf16eb57379797.png)

If this is undoable, is it possible to create a window in isaac sim to view Rviz? instead of rviz launching a separate window itself?

---

<div class="post-metadata">

**Author:** ![zhengwang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/zhengwang/32/256893_2.png) [@zhengwang](https://forums.developer.nvidia.com/u/zhengwang)\
**Post date:** [February 11, 2025, 12:02am UTC](https://forums.developer.nvidia.com/t/vizualizing-real-world-ros2-lidar-point-clouds-in-isaac-sim/323187/3 "2025-02-11T00:02:28Z")

</div>

Hey @Raedrus02 is it what you are looking for: [RTX Lidar Action Graph Overview — Isaac Sim Documentation](https://docs.robotsfan.com/isaacsim/latest/sensors/isaacsim_sensors_rtx_lidar/node_overview.html) ?

---

<div class="post-metadata">

**Author:** ![Raedrus02](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@Raedrus02](https://forums.developer.nvidia.com/u/Raedrus02)\
**Post date:** [February 12, 2025, 2:17am UTC](https://forums.developer.nvidia.com/t/vizualizing-real-world-ros2-lidar-point-clouds-in-isaac-sim/323187/4 "2025-02-12T02:17:33Z")

</div>

Hey there! Appreciate the reply. I think i might not be clear enough. I want to visualize real lidar data in isaac sim. I have a robot doing slam in real world and i want to have the lidar laser scan points shown in isaac sim instead of rviz.

In short, I am not doing simulation of lidar in isaac sim but rather displaying real lidar scan points in it.

---

<div class="post-metadata">

**Author:** ![zhengwang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/zhengwang/32/256893_2.png) [@zhengwang](https://forums.developer.nvidia.com/u/zhengwang)\
**Post date:** [February 20, 2025, 6:26pm UTC](https://forums.developer.nvidia.com/t/vizualizing-real-world-ros2-lidar-point-clouds-in-isaac-sim/323187/5 "2025-02-20T18:26:57Z")

</div>

Hey @Raedrus02. Isaac Sim is not a visualizer so unfortunately it is not able to do what you want. But I have already reached out to the internal team. It is possible that we _might_ add some feature for real data visualization in Isaac Sim in the future.

---

<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/system/32/68080_2.png) [@system](https://forums.developer.nvidia.com/u/system)\
**Post date:** [March 6, 2025, 6:27pm UTC](https://forums.developer.nvidia.com/t/vizualizing-real-world-ros2-lidar-point-clouds-in-isaac-sim/323187/7 "2025-03-06T18:27:34Z")

</div>

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.