Why azimuth deg settings are ignored?

Omniverse Isaac Sim
1

I 'm trying to use RTXLidar.
I created config file as below.
It has the azimuth deg settings from -135 to 135.

{
    "class": "sensor",
    "type": "lidar",
    "name": "UST-30LX",
    "driveWorksId": "GENERIC",
    "profile":
    {
      "scanType": "rotary",
      "intensityProcessing": "normalization",
      "rayType": "IDEALIZED",
      "nearRangeM": 0.05,
      "farRangeM": 30.0,
  
      "startAzimuthDeg": -135.0,
      "endAzimuthDeg": 135.0,
  
      "upElevationDeg": 0.0,
      "downElevationDeg": 0.0,
  
      "rangeResolutionM": 0.001,
  
      "rangeAccuracyM": 0.04,
  
      "avgPowerW": 3.6,
      "minReflectance": 0.1,
      "minReflectanceRange": 120.0,
      "wavelengthNm": 905.0,
      "pulseTimeNs": 23,

      "azimuthErrorMean": 0.0,
      "azimuthErrorStd": 0.000,
      "elevationErrorMean": 0.0,
      "elevationErrorStd": 0.0000,
  
  
      "reportTypes": "Strongest, Last, Dual",
      "maxReturns": 1,
  
      "scanRatesHz": [40.0],
      "scanRateBaseHz": 40.0,
  
      "reportRateBaseHz": 36000,
  
      "numberOfEmitters": 1,
  
      "emitters":
      {
        "azimuthDeg": [0],
        "elevationDeg": [0],
        "fireTimeNs": [0]

      },
  
      "intensityMappingType": "LINEAR"
    }
}

But this photo shows the azmith deg settings are ignored. Why?

image
image1766×938 129 KB

How can I make the lidar setting?

3

Hello, it appears you’re publishing a LaserScan message from Isaac Sim. Are you using ROS2RTXLidarHelper with type = laser_scan? If so, for rotary lidars like the one you specified the writer accumulates a full scan (azimuth = [-180, 180)) and then publishes that message. If you use a solid state lidar config, you should see the scan azimuth will match the min/max azimuth of the lidar config.

4

Thank you for your reply.

Do you mean min/max azimuth of the rotary lidar config define angle per emitter, not full scan angle?
If so, what is the advantage of having min/max azimuth available?

5

Hi @adevalla ,
I got Segmentation fault when I changed “scanType” in config to “solidState”.
What am I missing to convert to a solid state LiDAR configuration file?

6

I double-checked. The startAzimuthDeg and endAzimuthDeg fields in the lidar configs were deprecated as of Isaac Sim 4.1.0. It appears a few lidar configs we ship - specifically the Sick and Ouster configs - still contain this field. This will be corrected.

The emitterStates dictionary(ies) define(s) the azimuth, elevation, and fire time for each individual emitter in the lidar emitter array.

Under-the-hood, when you use ROS2RTXLidarHelper to publish a LaserScan message, it builds an OmniGraph pipeline incorporating OgnIsaacComputeRTXLidarFlatScan. For 3D rotary lidars, this node finds the “lowest-elevation” emitter (i.e the one closest to zero elevation), then selects the returns from that emitter generated each frame.

Returns from that emitter are accumulated until a buffer spanning azimuth [-180, 180) degrees is filled, where “azimuth” in this case refers to azimuth with respect to the stationary lidar frame defined at the start of the simulation, not azimuth angle of the emitter on the lidar itself.

In other words, we accumulate returns from a single emitter until we span a full lidar rotation, then pack those returns into the ROS2 LaserScan message. This behavior is intended to match expected output from an actual 2D Lidar, which would return a full flat scan.

Were there any other changes you made to the config? Could you please share the log from the segfault?

7

Thank you for your reply.

I see. If so, could you update this documentation?
https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_rtx_based_lidar/lidar_config.html
It sitll has start/end AzimuthAngle.
It would be better if a detailed explanation of the behavior of emitterStates in “rotary” lidar was included.

I only changed “scanType” in config to “solidState”.
I will try to set emitterStates like Example_Solid_State.
But since I do not have the execution environment at hand, I cannot test it immediately.

8

Yes, absolutely. Thank you for the catch!

Understood. I will try to replicate on my end as well.

9

I try to make soldState Lidar but I cannot it.
Below is log.

['bash', '/isaac-sim/python.sh', '/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/start_sim.py', '/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/meshes/USD/default_stage.usd', '60.0', '600.0', '60.0', 'False']
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] =========================== DEPRECATION WARNING ===========================
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] Traceback (most recent call last):
[Warning] [omni.isaac.kit] File '/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/start_sim.py', line 13
[Warning] [omni.isaac.kit]   from omni.isaac.kit import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] Please import 'isaacsim' before importing the 'omni.isaac.kit' extension...
[Warning] [omni.isaac.kit]   >>> import isaacsim
[Warning] [omni.isaac.kit]   >>> from omni.isaac.kit import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] or get the 'SimulationApp' class directly from the 'isaacsim' module
[Warning] [omni.isaac.kit]   >>> from isaacsim import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] ===========================================================================
[Warning] [omni.isaac.kit] 
Starting kit application with the following args:  ['/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/isaac-sim/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/isaac-sim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/isaac-sim/exts', '--ext-folder', '/isaac-sim/apps', '--/physics/cudaDevice=0', '--portable', '--allow-root']
Passing the following args to the base kit application:  ['/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/meshes/USD/default_stage.usd', '60.0', '600.0', '60.0', 'False']
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/4.1/kit_20240815_161428.log
2024-08-15 07:14:28 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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2024-08-15 07:14:29 [915ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored):  Microsoft Xbox Series S|X Controller [030000005e040000120b000009050000]
2024-08-15 07:14:29 [915ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored):  ELECOM ELECOM TrackBall Mouse Consumer Control [030000006e050000f900000011010000]
2024-08-15 07:14:29 [915ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored):  ELECOM ELECOM TK-FCP097 Consumer Control [030000006e0500006310000010010000]
[0.924s] [ext: omni.kit.renderer.init-0.0.0] startup

|---------------------------------------------------------------------------------------------|
| Driver Version: 555.42.06     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3090          | Yes: 0 |     | 24822   MB | 10de      | 0          |
|     |                                  |        |     |            | 2204      | 63c31080.. |
|     |                                  |        |     |            | b         |            |
|=============================================================================================|
| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.5.0-15-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: AMD Ryzen 9 5950X 16-Core Processor | Cores: 16 | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64211 | Free Memory: 58095
| Total Page/Swap (MB): 2048 | Free Page/Swap: 2048
|---------------------------------------------------------------------------------------------|
2024-08-15 07:14:30 [1,891ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
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[9.530s] [ext: omni.kit.window.material_graph-1.8.15] startup
[9.570s] [ext: omni.graph.bundle.action-2.0.4] startup
[9.571s] [ext: omni.isaac.dynamic_control-1.3.8] startup
[9.578s] [ext: omni.replicator.core-1.11.14] startup
2024-08-15 07:14:38 [9,656ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:
   CUDA Toolkit 11.8, Driver 12.5
   Devices:
     "cpu"      : "x86_64"
     "cuda:0"   : "NVIDIA GeForce RTX 3090" (24 GiB, sm_86, mempool enabled)
   Kernel cache:
     /root/.cache/warp/1.2.1
[9.775s] [ext: omni.isaac.core-3.18.1] startup
[10.908s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[10.916s] [ext: omni.isaac.core_nodes-1.16.1] startup
[10.932s] [ext: omni.isaac.cloner-0.8.1] startup
[10.935s] [ext: omni.isaac.ui-0.16.0] startup
[10.943s] [ext: omni.kit.graph.widget.variables-2.1.0] startup
[10.949s] [ext: omni.kit.graph.delegate.modern-1.10.6] startup
[10.952s] [ext: omni.isaac.wheeled_robots-2.3.3] startup
[10.962s] [ext: omni.isaac.gym-0.11.3] startup
[10.966s] [ext: omni.graph.window.core-1.109.0] startup
[10.986s] [ext: omni.isaac.debug_draw-1.1.0] startup
[10.993s] [ext: omni.isaac.block_world-1.0.0] startup
[10.998s] [ext: omni.graph.window.generic-1.24.0] startup
[11.013s] [ext: omni.isaac.menu-0.5.0] startup
[11.020s] [ext: omni.isaac.occupancy_map-1.0.2] startup
[11.028s] [ext: omni.importer.mjcf-1.1.1] startup
[11.037s] [ext: omni.graph.window.action-1.26.0] startup
[11.048s] [ext: omni.kit.widget.live-2.1.6] startup
[11.051s] [ext: omni.kit.actions.window-1.1.1] startup
[11.054s] [ext: omni.kit.ui.actions-1.0.1] startup
[11.055s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[11.098s] [ext: omni.kit.hotkeys.window-1.4.5] startup
2024-08-15 07:14:39 [11,090ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.
[11.103s] [ext: omni.kit.selection-0.1.4] startup
[11.105s] [ext: omni.kit.menu.common-1.1.5] startup
[11.106s] [ext: omni.sensors.nv.common-1.2.2-isaac] startup
[11.116s] [ext: omni.isaac.kit-1.13.0] startup
[11.117s] [ext: omni.kit.menu.edit-1.1.24] startup
[11.119s] [ext: omni.kit.menu.file-1.1.10] startup
[11.122s] [ext: omni.isaac.range_sensor-3.1.1] startup
[11.132s] [ext: omni.sensors.nv.materials-1.2.1-isaac] startup
[11.134s] [ext: omni.kit.property.audio-1.0.11] startup
[11.137s] [ext: omni.kit.widget.stage_icons-1.0.4] startup
[11.140s] [ext: omni.kit.property.geometry-1.3.0] startup
[11.143s] [ext: omni.kit.property.camera-1.0.6] startup
[11.145s] [ext: omni.sensors.nv.lidar-1.2.2-isaac] startup
[11.149s] [ext: omni.sensors.nv.wpm-1.2.1-isaac] startup
[11.150s] [ext: omni.hydra.scene_api-0.1.2] startup
[11.155s] [ext: omni.kit.window.stage-2.5.10] startup
[11.159s] [ext: omni.kit.property.render-1.1.1] startup
[11.160s] [ext: omni.kit.property.light-1.0.8] startup
[11.162s] [ext: omni.sensors.nv.radar-1.2.1-isaac] startup
[11.167s] [ext: omni.kit.property.transform-1.5.1] startup
[11.171s] [ext: omni.kit.menu.stage-1.2.5] startup
[11.172s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-08-15 07:14:39 [11,166ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[11.179s] [ext: omni.kit.property.bundle-1.2.11] startup
[11.182s] [ext: omni.kit.property.isaac-0.2.3] startup
[11.184s] [ext: omni.isaac.sensor-12.7.1] startup
2024-08-15 07:14:39 [11,230ms] [Error] [carb.scripting-python.plugin] JSONDecodeError: Expecting value: line 61 column 7 (char 13835)

At:
  /isaac-sim/kit/python/lib/python3.10/json/decoder.py(355): raw_decode
  /isaac-sim/kit/python/lib/python3.10/json/decoder.py(337): decode
  /isaac-sim/kit/python/lib/python3.10/json/__init__.py(346): loads
  /isaac-sim/kit/python/lib/python3.10/json/__init__.py(293): load
  /isaac-sim/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/menu.py(212): __init__
  /isaac-sim/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/extension.py(37): on_startup
  /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(164): _startup_ext
  /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(224): startup
  /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(405): _start_app
  /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(199): __init__
  /root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/start_sim.py(52): main
  /root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/start_sim.py(108): <module>

2024-08-15 07:14:39 [11,231ms] [Error] [omni.ext.plugin] [ext: omni.isaac.sensor-12.7.1] Failed to startup python extension.
[11.375s] [ext: omni.isaac.surface_gripper-1.0.1] startup
[11.383s] [ext: omni.kit.stage_column.payload-2.0.0] startup
[11.389s] [ext: omni.kit.property.layer-1.1.6] startup
[11.394s] [ext: omni.isaac.scene_blox-0.1.2] startup
[11.396s] [ext: omni.isaac.quadruped-1.4.5] startup
[11.424s] [ext: omni.isaac.manipulators-2.1.0] startup
[11.437s] [ext: omni.isaac.lula-3.0.1] startup
[11.452s] [ext: omni.kit.viewport.menubar.render-106.1.3] startup
[11.459s] [ext: omni.kit.viewport.menubar.settings-106.0.1] startup
[11.466s] [ext: omni.kit.viewport.menubar.camera-105.1.8] startup
[11.471s] [ext: omni.kit.manipulator.camera-105.0.5] startup
[11.474s] [ext: omni.isaac.motion_generation-7.1.0] startup
[11.479s] [ext: omni.kit.widget.calendar-1.0.8] startup
[11.482s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[11.483s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[11.484s] [ext: omni.isaac.universal_robots-0.3.5] startup
[11.485s] [ext: omni.kit.widget.extended_searchfield-1.0.28] startup
[11.496s] [ext: omni.kit.widget.timeline-105.0.1] startup
[11.499s] [ext: omni.kit.window.commands-0.2.5] startup
[11.502s] [ext: omni.kit.window.console-0.2.12] startup
[11.510s] [ext: omni.kit.window.script_editor-1.7.6] startup
[11.512s] [ext: omni.kit.menu.create-1.0.13] startup
[11.513s] [ext: omni.kit.window.status_bar-0.1.6] startup
[11.518s] [ext: omni.rtx.window.settings-0.6.16] startup
[11.521s] [ext: omni.isaac.franka-0.4.1] startup
[11.523s] [ext: omni.kit.window.title-1.1.3] startup
[11.527s] [ext: omni.replicator.isaac-1.15.0] startup
[11.542s] [ext: omni.replicator.replicator_yaml-2.0.5] startup
[11.563s] [ext: omni.rtx.settings.core-0.6.0] startup
[11.570s] [ext: omni.isaac.cortex-0.3.8] startup
[11.572s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[11.583s] [ext: semantics.schema.editor-0.3.6] startup
[11.592s] [ext: semantics.schema.property-1.0.3] startup
[11.595s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[11.596s] [ext: omni.isaac.utils-1.0.1] startup
[11.600s] [ext: omni.isaac.cortex.sample_behaviors-1.0.5] startup
[11.603s] [ext: omni.importer.urdf-1.14.1] startup
[11.648s] [ext: omni.kit.window.stats-0.1.6] startup
[11.654s] [ext: omni.isaac.sim.python-4.1.0] startup
[11.655s] Simulation App Starting
Opening usd file at  /root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/meshes/USD/default_stage.usd  ...Done.
[13.590s] app ready
[14.728s] Simulation App Startup Complete
[14.739s] [ext: omni.isaac.ros2_bridge-2.31.4] startup
[14.784s] Attempting to load system rclpy
[14.802s] rclpy loaded
[14.993s] [ext: omni.isaac.repl-1.1.0] startup
2024-08-15 07:14:53 [24,385ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-08-15 07:14:53 [24,404ms] [Warning] [omni.importer.urdf] Link camera_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-08-15 07:14:53 [24,408ms] [Warning] [omni.importer.urdf] Link depth_camera_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-08-15 07:14:53 [24,424ms] [Warning] [omni.importer.urdf] Link lidar_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-08-15 07:14:53 [24,470ms] [Warning] [omni.hydra.scene_delegate.plugin] cannot find xform op xformOp:orient for /World/diffbot/base_link

2024-08-15 07:14:53 [24,470ms] [Warning] [omni.hydra.scene_delegate.plugin] cannot find xform op xformOp:scale for /World/diffbot/base_link

2024-08-15 07:14:59 [30,405ms] [Warning] [lidar.lidarprofilereader] Member numberOfEmitters not found!
2024-08-15 07:14:59 [30,405ms] [Error] [carb] 

../../../source/extensions/omni.sensors.nv.lidar/plugins/rtxmodel_lidar_core/LidarCorePlugin.cpp(49): omni::sensors::nv::lidar::ILidar* omni::sensors::nv::lidar::createLidarType(uint32_t, const string&)(): Assertion (scanType != LidarScanType::kUnknown) failed: Scan type of sensor is unknown - Is there a valid sensor profile?

/isaac-sim/python.sh: line 41:  7183 Trace/breakpoint trap   (core dumped) $python_exe "$@" $args
There was an error running python

And below is config file.

{
    "class": "sensor",
    "type": "lidar",
    "name": "UST-30LX",
    "driveWorksId": "GENERIC",
    "profile":
    {
      "scanType": "solidState",
      "intensityProcessing": "normalization",
      "rayType": "IDEALIZED",
      "rotationDirection": "CW",
      "nearRangeM": 0.05,
      "farRangeM": 30.0,
  
  
      "numberOfEmitters": 1,

    "effectiveApertureSize": 0.0145,
    "focusDistM": 0.05,

    "rangeResolutionM": 0.001,

    "rangeAccuracyM": 0.04,

    "avgPowerW": 3.6,
    "minReflectance": 0.1,
    "minReflectanceRange": 120.0,
    "wavelengthNm": 905.0,
    "pulseTimeNs": 23,

    "maxReturns": 1,

    "scanRateBaseHz": 40.0,
    "reportRateBaseHz": 40,

    "numberOfEmitters": 50000,
    "numberOfChannels": 50000,

    "rangeCount": 1,
    "ranges": [
      {"min": 0.5, "max": 300}
    ],

    "azimuthErrorMean": 0.0,
    "azimuthErrorStd": 0.025,
    "elevationErrorMean": 0.0,
    "elevationErrorStd": 0.025,

    "stateResolutionStep": 1,

    "numLines": 1, 
     "numRaysPerLine": [1080],

      "emitterStateCount": 1,
      "emitterStates": [
        {
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Could you check what is wrong?

10

The JSON file was written incorrectly.
I can make config file.

{
    "class": "sensor",
    "type": "lidar",
    "name": "UST-30LX",
    "driveWorksId": "GENERIC",
    "profile":
    {
      "scanType": "solidState",
      "intensityProcessing": "normalization",
      "rayType": "IDEALIZED",
      "rotationDirection": "CW",
      "nearRangeM": 0.05,
      "farRangeM": 30.0,

      "effectiveApertureSize": 0.0145,
      "focusDistM": 0.05,

      "rangeResolutionM": 0.001,

      "rangeAccuracyM": 0.04,

      "avgPowerW": 3.6,
      "minReflectance": 0.1,
      "minReflectanceRange": 120.0,
      "wavelengthNm": 905.0,
      "pulseTimeNs": 23,

      "maxReturns": 1,

      "scanRateBaseHz": 40.0,
      "reportRateBaseHz": 40,

      "numberOfEmitters": 1081,

      "rangeCount": 1,
      "ranges": [
        {"min": 0.05, "max": 30}
      ],

      "azimuthErrorMean": 0.0,
      "azimuthErrorStd": 0.025,
      "elevationErrorMean": 0.0,
      "elevationErrorStd": 0.025,

      "stateResolutionStep": 1,

      "numLines": 1, 
      "numRaysPerLine": [1081],

      "emitterStateCount": 1,
      "emitterStates": [
        {
          "azimuthDeg": 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Thank you.

12

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