.. _isaacsim_ros2_bridge_ROS2PublishPointCloud_1:

.. _isaacsim_ros2_bridge_ROS2PublishPointCloud:

.. ================================================================================
.. THIS PAGE IS AUTO-GENERATED. DO NOT MANUALLY EDIT.
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:orphan:

.. meta::
    :title: ROS2 Publish Point Cloud
    :keywords: lang-en omnigraph node isaacRos2:publisher bridge r-o-s2-publish-point-cloud


ROS2 Publish Point Cloud
========================

.. <description>

This node publishes LiDAR scans as a ROS2 PointCloud2 message

.. </description>


Installation
------------

To use this node enable :ref:`isaacsim.ros2.nodes<ext_isaacsim_ros2_nodes>` in the Extension Manager.


Inputs
------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Buffer Size (*inputs:bufferSize*)", "``uint``", "Size (in bytes) of the buffer (0 if the input is a texture)", "0"
    "Channel Id Buffer Size (*inputs:channelIdBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Channel Id Data Type (*inputs:channelIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "channelId (*inputs:channelIdPtr*)", "``uint64``", "channelId", "0"
    "Context (*inputs:context*)", "``uint64``", "ROS2 context handle, Default of zero will use the default global context", "0"
    "Cuda Device Index (*inputs:cudaDeviceIndex*)", "``int``", "Index of the device where the data lives (-1 for host data)", "-1"
    "Data (*inputs:data*)", "``pointf[3][]``", "Buffer array data, must contain data if dataPtr is null", "[]"
    "Data Ptr (*inputs:dataPtr*)", "``uint64``", "Pointer to the buffer data", "0"
    "Echo Id Buffer Size (*inputs:echoIdBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Echo Id Data Type (*inputs:echoIdDataType*)", "``uchar``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "echoId (*inputs:echoIdPtr*)", "``uint64``", "echoId", "0"
    "Emitter Id Buffer Size (*inputs:emitterIdBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Emitter Id Data Type (*inputs:emitterIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "emitterId (*inputs:emitterIdPtr*)", "``uint64``", "emitterId", "0"
    "Exec In (*inputs:execIn*)", "``execution``", "The input execution port", "None"
    "Frame Id (*inputs:frameId*)", "``string``", "FrameId for ROS2 message", "sim_lidar"
    "Hit Normal Buffer Size (*inputs:hitNormalBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Hit Normal Data Type (*inputs:hitNormalDataType*)", "``float[3]``", "type", "[0, 0, 0]"
    "", "Metadata", "*hidden* = true", ""
    "normal (*inputs:hitNormalPtr*)", "``uint64``", "Normal at the hit location", "0"
    "Intensity Buffer Size (*inputs:intensityBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Intensity Data Type (*inputs:intensityDataType*)", "``float``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "intensity (*inputs:intensityPtr*)", "``uint64``", "intensity [0,1]", "0"
    "Material Id Buffer Size (*inputs:materialIdBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Material Id Data Type (*inputs:materialIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "materialId (*inputs:materialIdPtr*)", "``uint64``", "materialId at hit location", "0"
    "Node Namespace (*inputs:nodeNamespace*)", "``string``", "Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace", ""
    "Object Id Buffer Size (*inputs:objectIdBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Object Id Data Type (*inputs:objectIdDataType*)", "``uint[]``", "type", "[0, 0, 0, 0]"
    "", "Metadata", "*hidden* = true", ""
    "objectId (*inputs:objectIdPtr*)", "``uint64``", "ObjectId for getting usd prim information", "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"
    "Radial Velocity MS Buffer Size (*inputs:radialVelocityMSBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Radial Velocity MS Data Type (*inputs:radialVelocityMSDataType*)", "``float``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "radialVelocityMS (*inputs:radialVelocityMSPtr*)", "``uint64``", "radialVelocityMS", "0"
    "Tick Id Buffer Size (*inputs:tickIdBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Tick Id Data Type (*inputs:tickIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "tickId (*inputs:tickIdPtr*)", "``uint64``", "tickId", "0"
    "Tick State Buffer Size (*inputs:tickStateBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Tick State Data Type (*inputs:tickStateDataType*)", "``uchar``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "tickState (*inputs:tickStatePtr*)", "``uint64``", "tickState", "0"
    "Timestamp (*inputs:timeStamp*)", "``double``", "ROS2 Timestamp in seconds", "0.0"
    "Timestamp Buffer Size (*inputs:timestampBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Timestamp Data Type (*inputs:timestampDataType*)", "``uint64``", "type", "8"
    "", "Metadata", "*hidden* = true", ""
    "timestamp (*inputs:timestampPtr*)", "``uint64``", "timestamp in ns", "0"
    "Topic Name (*inputs:topicName*)", "``string``", "Name of ROS2 Topic", "point_cloud"
    "Velocity Buffer Size (*inputs:velocityBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Velocity Data Type (*inputs:velocityDataType*)", "``float[3]``", "type", "[0, 0, 0]"
    "", "Metadata", "*hidden* = true", ""
    "velocity (*inputs:velocityPtr*)", "``uint64``", "Velocity vector at the hit point (m/s)", "0"


Metadata
--------
.. csv-table::
    :header: "Name", "Value"
    :widths: 30,70

    "Unique ID", "isaacsim.ros2.bridge.ROS2PublishPointCloud"
    "Version", "1"
    "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"

