Attention
As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.
Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.
Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1
continues to be available on the release-2.1
branches of the Isaac ROS
GitHub repositories.
The original documentation for Isaac ROS 2.1 is preserved below.
isaac_ros_pointcloud_utils
Source code on GitHub.
Overview
The ROS nodes in this package allows for sensor_msgs::msg::PointCloud2 and sensor_msgs::msg::LaserScan to be converted to isaac_ros_pointcloud_interfaces::msg::FlatScan which can then be used with the isaac_ros_occupancy_grid_localizer.
API
Isaac ROS PointCloud to FlatScan
Usage
ros2 launch isaac_ros_pointcloud_utils isaac_ros_pointcloud_to_flatscan.launch.py
ROS Parameters
ROS Parameter |
Type |
Default |
Description |
---|---|---|---|
|
bool |
|
Enable X Axis Threshold |
|
bool |
|
Enable Y Axis Threshold |
|
double |
|
Min X axis threshold |
|
double |
|
Max X axis threshold |
|
double |
|
Min Y axis threshold |
|
double |
|
Max Y axis threshold |
|
double |
|
Min Z axis threshold |
|
double |
|
Max Z axis threshold |
|
int |
|
Maximum number of 3D points in input Point Cloud used to pre allocate GPU memory |
ROS Topics Subscribed
ROS Topic |
Type |
Description |
---|---|---|
|
Input Point Cloud |
ROS Topics Published
ROS Topic |
Type |
Description |
---|---|---|
|
Output Flat Scan |
Isaac ROS LaserScan to FlatScan
Usage
ros2 launch isaac_ros_pointcloud_utils isaac_ros_laserscan_to_flatscan.launch.py
ROS Topics Subscribed
ROS Topic |
Type |
Description |
---|---|---|
|
Input LaserScan |
ROS Topics Published
ROS Topic |
Type |
Description |
---|---|---|
|
Output Flat Scan |
Isaac ROS FlatScan to LaserScan
Usage
ros2 launch isaac_ros_pointcloud_utils isaac_ros_flatscan_to_laserscan.launch.py
ROS Parameters
ROS Parameter |
Type |
Default |
Description |
---|---|---|---|
|
double |
|
The starting angle of the generated LaserScan |
|
double |
|
The ending angle of the generated LaserScan |
|
double |
|
The angle increment per LaserScan reading |
|
double |
|
The time increment per LaserScan reading |
|
double |
|
If the Max Range of the input FlatScan == 0, then this parameter is used to populate ‘Max Range’ field of the output LaserScan. |
ROS Topics Subscribed
|
Input Flat Scan |
ROS Topics Published
ROS Topic |
Type |
Description |
---|---|---|
|
Input LaserScan |