ROS2 Publish Laser Scan

This node publishes LiDAR scans as a ROS2 LaserScan message. It accepts depth data from either an RTX lidar (via the GMO dataPtr path) or a physics raycast sensor (via the linearDepthData array path). When using a physics raycast sensor, the sensor must be configured to cast a full horizontal sweep of rays so that every frame produces a complete scan; partial scans will be published as-is. When intensitiesData is not connected, binary hit/miss intensities (255/0) are synthesized from the depth data.

Installation

To use this node enable isaacsim.ros2.nodes in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Azimuth Range (inputs:azimuthRange)	float[2]	The azimuth range [min, max] (deg). Always [-180, 180] for rotary lidars.	[0.0, 0.0]
Buffer Size (inputs:bufferSize)	uint64	Size of the GenericModelOutput buffer in bytes	0
Context (inputs:context)	uint64	ROS2 context handle, Default of zero will use the default global context	0
Data Ptr (inputs:dataPtr)	uint64	Pointer to GenericModelOutput buffer. When non-zero, the node processes the GMO buffer directly and linearDepthData/intensitiesData inputs are ignored.	0
Depth Range (inputs:depthRange)	float[2]	Range for sensor to detect a hit [min, max] (m)	[0, 0]
Exec In (inputs:execIn)	execution	The input execution port	None
Frame Id (inputs:frameId)	string	FrameId for ROS2 message	sim_lidar
Horizontal Fov (inputs:horizontalFov)	float	Horizontal Field of View (deg)	0
Horizontal Resolution (inputs:horizontalResolution)	float	Increment between horizontal rays (deg)	0
Intensities Data (inputs:intensitiesData)	uchar[]	Intensity measurements from full scan, ordered by increasing azimuth. Optional: when unconnected or empty, binary hit/miss intensities (255/0) are synthesized from linearDepthData.	[]
Linear Depth Data (inputs:linearDepthData)	float[]	Linear depth measurements from full scan, ordered by increasing azimuth (m)	[]
Node Namespace (inputs:nodeNamespace)	string	Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace
Num Cols (inputs:numCols)	int	Number of columns in buffers	0
Num Rows (inputs:numRows)	int	Number of rows in buffers	0
Qos Profile (inputs:qosProfile)	string	QoS profile config
Queue Size (inputs:queueSize)	uint64	The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Only honored if ‘history’ QoS policy was set to ‘keep last’. This setting can be overwritten by qosProfile input.	10
Rotation Rate (inputs:rotationRate)	float	Rotation rate of sensor in Hz	0
Timestamp (inputs:timeStamp)	double	ROS2 Timestamp in seconds	0.0
Topic Name (inputs:topicName)	string	Name of ROS2 Topic	scan

Metadata

Name	Value
Unique ID	isaacsim.ros2.bridge.ROS2PublishLaserScan
Version	3
Extension	isaacsim.ros2.nodes
Icon	ogn/icons/isaacsim.ros2.bridge.ROS2PublishLaserScan.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 Publish Laser Scan
Categories	isaacRos2:publisher
Generated Class Name	OgnROS2PublishLaserScanDatabase
Python Module	isaacsim.ros2.nodes