ROS2 Publish Point Cloud#
This node publishes LiDAR scans as a ROS2 PointCloud2 message
Installation#
To use this node enable isaacsim.ros2.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Buffer Size (inputs:bufferSize) |
|
Size (in bytes) of the buffer (0 if the input is a texture) |
0 |
Channel Id Buffer Size (inputs:channelIdBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Channel Id Data Type (inputs:channelIdDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
channelId (inputs:channelIdPtr) |
|
channelId |
0 |
Context (inputs:context) |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
Cuda Device Index (inputs:cudaDeviceIndex) |
|
Index of the device where the data lives (-1 for host data) |
-1 |
Data (inputs:data) |
|
Buffer array data, must contain data if dataPtr is null |
[] |
Data Ptr (inputs:dataPtr) |
|
Pointer to the buffer data |
0 |
Echo Id Buffer Size (inputs:echoIdBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Echo Id Data Type (inputs:echoIdDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
echoId (inputs:echoIdPtr) |
|
echoId |
0 |
Emitter Id Buffer Size (inputs:emitterIdBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Emitter Id Data Type (inputs:emitterIdDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
emitterId (inputs:emitterIdPtr) |
|
emitterId |
0 |
Exec In (inputs:execIn) |
|
The input execution port |
None |
Frame Id (inputs:frameId) |
|
FrameId for ROS2 message |
sim_lidar |
Hit Normal Buffer Size (inputs:hitNormalBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Hit Normal Data Type (inputs:hitNormalDataType) |
|
type |
[0, 0, 0] |
Metadata |
hidden = true |
||
normal (inputs:hitNormalPtr) |
|
Normal at the hit location |
0 |
Intensity Buffer Size (inputs:intensityBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Intensity Data Type (inputs:intensityDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
intensity (inputs:intensityPtr) |
|
intensity [0,1] |
0 |
Material Id Buffer Size (inputs:materialIdBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Material Id Data Type (inputs:materialIdDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
materialId (inputs:materialIdPtr) |
|
materialId at hit location |
0 |
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace |
|
Object Id Buffer Size (inputs:objectIdBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Object Id Data Type (inputs:objectIdDataType) |
|
type |
[0, 0, 0, 0] |
Metadata |
hidden = true |
||
objectId (inputs:objectIdPtr) |
|
ObjectId for getting usd prim information |
0 |
Output Channel Id (inputs:outputChannelId) |
|
Include per-point channel IDs in the published PointCloud2 message. Requires channelIdPtr to be connected. |
False |
Output Echo Id (inputs:outputEchoId) |
|
Include per-point echo IDs in the published PointCloud2 message. Requires echoIdPtr to be connected. |
False |
Output Emitter Id (inputs:outputEmitterId) |
|
Include per-point emitter IDs in the published PointCloud2 message. Requires emitterIdPtr to be connected. |
False |
Output Hit Normal (inputs:outputHitNormal) |
|
Include per-point hit normals in the published PointCloud2 message. Requires hitNormalPtr to be connected. |
False |
Output Intensity (inputs:outputIntensity) |
|
Include per-point intensity in the published PointCloud2 message. Requires intensityPtr to be connected. |
False |
Output Material Id (inputs:outputMaterialId) |
|
Include per-point material IDs in the published PointCloud2 message. Requires materialIdPtr to be connected. |
False |
Output Object Id (inputs:outputObjectId) |
|
Include per-point object IDs in the published PointCloud2 message. Requires objectIdPtr to be connected. |
False |
Output Radial Velocity MS (inputs:outputRadialVelocityMS) |
|
Include per-point radial velocity (m/s) in the published PointCloud2 message. Requires radialVelocityMSPtr to be connected. Radar only. |
False |
Output Tick Id (inputs:outputTickId) |
|
Include per-point tick IDs in the published PointCloud2 message. Requires tickIdPtr to be connected. |
False |
Output Tick State (inputs:outputTickState) |
|
Include per-point tick states in the published PointCloud2 message. Requires tickStatePtr to be connected. |
False |
Output Timestamp (inputs:outputTimestamp) |
|
Include per-point timestamps in the published PointCloud2 message. Requires timestampPtr to be connected. |
False |
Output Velocity (inputs:outputVelocity) |
|
Include per-point velocity vectors in the published PointCloud2 message. Requires velocityPtr to be connected. |
False |
Qos Profile (inputs:qosProfile) |
|
QoS profile config |
|
Queue Size (inputs:queueSize) |
|
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 |
Radial Velocity MS Buffer Size (inputs:radialVelocityMSBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Radial Velocity MS Data Type (inputs:radialVelocityMSDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
radialVelocityMS (inputs:radialVelocityMSPtr) |
|
radialVelocityMS |
0 |
Tick Id Buffer Size (inputs:tickIdBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Tick Id Data Type (inputs:tickIdDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
tickId (inputs:tickIdPtr) |
|
tickId |
0 |
Tick State Buffer Size (inputs:tickStateBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Tick State Data Type (inputs:tickStateDataType) |
|
type |
0 |
Metadata |
hidden = true |
||
tickState (inputs:tickStatePtr) |
|
tickState |
0 |
Timestamp (inputs:timeStamp) |
|
ROS2 Timestamp in seconds |
0.0 |
Timestamp Buffer Size (inputs:timestampBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Timestamp Data Type (inputs:timestampDataType) |
|
type |
8 |
Metadata |
hidden = true |
||
timestamp (inputs:timestampPtr) |
|
timestamp in ns |
0 |
Topic Name (inputs:topicName) |
|
Name of ROS2 Topic |
point_cloud |
Velocity Buffer Size (inputs:velocityBufferSize) |
|
size |
0 |
Metadata |
hidden = true |
||
Velocity Data Type (inputs:velocityDataType) |
|
type |
[0, 0, 0] |
Metadata |
hidden = true |
||
velocity (inputs:velocityPtr) |
|
Velocity vector at the hit point (m/s) |
0 |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.ros2.bridge.ROS2PublishPointCloud |
Version |
3 |
Extension |
isaacsim.ros2.nodes |
Icon |
ogn/icons/isaacsim.ros2.bridge.ROS2PublishPointCloud.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS2 Publish Point Cloud |
Categories |
isaacRos2:publisher |
Generated Class Name |
OgnROS2PublishPointCloudDatabase |
Python Module |
isaacsim.ros2.nodes |