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sync: update isaac_sim from OM1-ros2-sdk (bbca25ba3f2c899fb5929648a5724fcd48d2ce23) #54

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Merged
openminddev merged 1 commit into from
Sep 10, 2026
Merged

sync: update isaac_sim from OM1-ros2-sdk (bbca25ba3f2c899fb5929648a5724fcd48d2ce23) #54

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2 changes: 1 addition & 1 deletion isaac_sim/configs/sim.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@

cmd_vel_timeout: 0.5 # seconds; stop the robot if no new /cmd_vel arrives
physics_dt: 0.005 # 1/200 s
render_dt: 0.0333 # 1/30 s
render_dt: 0.03

# Default per-axis velocity caps (m/s, m/s, rad/s); intersected with the policy
# command ranges at runtime.
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3 changes: 2 additions & 1 deletion isaac_sim/run.py
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Expand Up @@ -430,7 +430,8 @@ def setup_ros(self) -> None:

render_hz = None
if self._render_dt:
render_hz = 1.0 / self._render_dt
steps = max(1, int(self._render_dt / self._physics_dt + 1e-9))
render_hz = 1.0 / (self._physics_dt * steps)

physics_hz = None
if self._physics_dt:
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14 changes: 8 additions & 6 deletions isaac_sim/utils.py
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Expand Up @@ -251,19 +251,21 @@ def _create_rtx_lidar_pointcloud(

if render_hz:
scan_attr = lidar_prim.GetAttribute("omni:sensor:Core:scanRateBaseHz")
if scan_attr and scan_attr.IsValid():
cur_scan = scan_attr.Get()
if cur_scan and render_hz > cur_scan:
target_scan = float(render_hz)
report_attr = lidar_prim.GetAttribute("omni:sensor:Core:reportRateBaseHz")
if scan_attr and scan_attr.IsValid() and report_attr and report_attr.IsValid():
cur_scan = scan_attr.Get() or 10
target_scan = math.ceil(render_hz)
if target_scan > cur_scan:
scan_attr.Set(target_scan)
cols = int((report_attr.Get() or 5120) / target_scan)
logger.info(
f"[Sensors] RTX lidar scan rate {cur_scan}->{target_scan} Hz "
"(azimuth resolution auto-reduced to fit fire time)"
f"(full sweep per frame, {cols} columns/rev)"
)
else:
logger.info(
"[WARN] RTX lidar scanRateBaseHz attr not found; leaving stock "
"10 Hz (cloud may flash at higher render rates)"
"10 Hz (cloud will tear during rotation)"
)

render_product = rep.create.render_product(
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