ROS2 RTX Radar Helper#

Handles automation of RTX Radar sensor pipeline for ROS 2 point cloud publishing

Installation#

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

Inputs#

Name	Type	Descripton	Default
Context (inputs:context)	`uint64`	ROS2 context handle, default of zero will use the global context	0
Enabled (inputs:enabled)	`bool`	True to enable the radar helper, False to disable	True
Exec In (inputs:execIn)	`execution`	Triggering this causes the sensor pipeline to be generated	None
Frame Id (inputs:frameId)	`string`	FrameID for the ROS2 message, the nodeNamespace will not be prefixed to the frame id	sim_radar
Node Namespace (inputs:nodeNamespace)	`string`	Namespace of ROS2 Node, prepends and published/subscribed topic by the node namespace
Output Intensity (inputs:outputIntensity)	`bool`	Include per-point intensity in the published PointCloud2 message	False
Output Radial Velocity MS (inputs:outputRadialVelocityMS)	`bool`	Include per-point radial velocity (m/s) in the published PointCloud2 message. Requires _replicator:rendervar:GenericModelOutput:channels = [‘BASIC’] on the OmniRadar prim, which Radar(path, aux_output_level=’BASIC’) authors automatically.	False
Output Timestamp (inputs:outputTimestamp)	`bool`	Include per-point timestamp in the published PointCloud2 message	False
Qos Profile (inputs:qosProfile)	`string`	QoS profile config
Queue Size (inputs:queueSize)	`uint64`	Number of message to queue up before throwing 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
Render Product Path (inputs:renderProductPath)	`token`	Name of the render product path to publish radar data
Reset Simulation Time On Stop (inputs:resetSimulationTimeOnStop)	`bool`	If True the simulation time will reset when stop is pressed, False means time increases monotonically. This setting is ignored if useSystemTime is enabled.	True
Show Debug View (inputs:showDebugView)	`bool`	If True a debug view of the radar detections will appear in the scene.	False
Topic Name (inputs:topicName)	`string`	Topic name for sensor data	radar_point_cloud
Use System Time (inputs:useSystemTime)	`bool`	If True, system timestamp will be included in messages. If False, simulation timestamp will be included in messages	False

Metadata#

Name	Value
Unique ID	isaacsim.ros2.bridge.ROS2RtxRadarHelper
Version	1
Extension	isaacsim.ros2.nodes
Icon	ogn/icons/isaacsim.ros2.bridge.ROS2RtxRadarHelper.svg
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 RTX Radar Helper
Categories	isaacRos2
Generated Class Name	OgnROS2RtxRadarHelperDatabase
Python Module	isaacsim.ros2.nodes