Isaac Read Lidar Beams Node#

This node reads from the lidar sensor and holds data buffers for a full scan

Installation#

To use this node enable isaacsim.sensors.physx in the Extension Manager.

Name	Type	Descripton	Default
Exec In (inputs:execIn)	`execution`	The input execution port	None
Lidar Prim (inputs:lidarPrim)	`target`	Usd prim reference to the lidar prim	None

Name	Type	Descripton	Default
Azimuth Range (outputs:azimuthRange)	`float[2]`	The azimuth range [min, max]	[0.0, 0.0]
Beam Time Data (outputs:beamTimeData)	`float[]`	Buffer array containing beam time data	[]
Depth Range (outputs:depthRange)	`float[2]`	The min and max range for sensor to detect a hit [min, max]	[0, 0]
Exec Out (outputs:execOut)	`execution`	Output execution triggers when lidar sensor has completed a full scan	None
Horizontal Fov (outputs:horizontalFov)	`float`	Horizontal Field of View in degrees	0
Horizontal Resolution (outputs:horizontalResolution)	`float`	Degrees in between rays for horizontal axis	0
Intensities Data (outputs:intensitiesData)	`uchar[]`	Buffer array containing intensities data	[]
Linear Depth Data (outputs:linearDepthData)	`float[]`	Buffer array containing linear depth data	[]
Num Cols (outputs:numCols)	`int`	Number of columns in buffers	0
Num Rows (outputs:numRows)	`int`	Number of rows in buffers	0
Rotation Rate (outputs:rotationRate)	`float`	Rotation rate of sensor in Hz	0
Vertical Fov (outputs:verticalFov)	`float`	Vertical Field of View in degrees	0
Vertical Resolution (outputs:verticalResolution)	`float`	Degrees in between rays for vertical axis	0
Zenith Range (outputs:zenithRange)	`float[2]`	The zenith range [min, max]	[0.0, 0.0]

Name	Value
Unique ID	isaacsim.sensors.physx.IsaacReadLidarBeams
Version	1
Extension	isaacsim.sensors.physx
Icon	ogn/icons/isaacsim.sensors.physx.IsaacReadLidarBeams.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Read Lidar Beams Node
Categories	isaacPhysxSensor
Generated Class Name	OgnIsaacReadLidarBeamsDatabase
Python Module	isaacsim.sensors.physx