ROS1 Publish Laser Scan
This node publishes LiDAR scans as a ROS1 LaserScan message
Installation
To use this Node, you must enable omni.isaac.ros_bridge
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution port |
|
nodeNamespace |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
frameId |
|
FrameId for ROS1 message |
sim_lidar |
topicName |
|
Name of ROS1 Topic |
scan |
queueSize |
|
The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent |
10 |
Timestamp (timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
horizontalFov |
|
Horizontal Field of View in degrees |
0 |
horizontalResolution |
|
Degrees in between rays for horizontal axis |
0 |
depthRange |
|
The min and max range for sensor to detect a hit [min, max] |
[0, 0] |
rotationRate |
|
Rotation rate of sensor in Hz |
0 |
linearDepthData |
|
Buffer array containing linear depth data |
[] |
intensitiesData |
|
Buffer array containing intensities data |
[] |
numRows |
|
Number of rows in buffers |
0 |
numCols |
|
Number of columns in buffers |
0 |
azimuthRange |
|
The azimuth range [min, max] |
[0.0, 0.0] |