.. _isaacsim_ros2_bridge_ROS2RtxRadarHelper_1:

.. _isaacsim_ros2_bridge_ROS2RtxRadarHelper:

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

:orphan:

.. meta::
    :title: ROS2 RTX Radar Helper
    :keywords: lang-en omnigraph node isaacRos2 bridge r-o-s2-rtx-radar-helper


ROS2 RTX Radar Helper
=====================

.. <description>

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

.. </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

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

    "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"

