.. _isaacsim_ros2_bridge_ROS2RtxLidarPointCloudConfig_1:

.. _isaacsim_ros2_bridge_ROS2RtxLidarPointCloudConfig:

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

:orphan:

.. meta::
    :title: ROS2 RTX Lidar Point Cloud Config
    :keywords: lang-en omnigraph node isaacRos2 bridge r-o-s2-rtx-lidar-point-cloud-config


ROS2 RTX Lidar Point Cloud Config
=================================

.. <description>

Specify RTX Lidar metadata for 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

    "Include the ChannelId (*inputs:outputChannelId*)", "``bool``", "Include the ChannelId.", "False"
    "Include the EchoId (*inputs:outputEchoId*)", "``bool``", "Include the EchoId.", "False"
    "Include the EmitterId (*inputs:outputEmitterId*)", "``bool``", "Include the EmitterId.", "False"
    "Include the Normals (*inputs:outputHitNormal*)", "``bool``", "Include the Normals.", "False"
    "Include the Intensity (*inputs:outputIntensity*)", "``bool``", "Include the Intensity (Lidar).", "False"
    "Include the MaterialId (*inputs:outputMaterialId*)", "``bool``", "Include the MaterialId.", "False"
    "Include the ObjectId (*inputs:outputObjectId*)", "``bool``", "Include the ObjectId.", "False"
    "Include the TickId (*inputs:outputTickId*)", "``bool``", "Include the TickId.", "False"
    "Include the TickState (*inputs:outputTickState*)", "``bool``", "Include the TickState.", "False"
    "Include the Timestamp (*inputs:outputTimestamp*)", "``bool``", "Include the Timestamp.", "False"
    "Include the Velocity (*inputs:outputVelocity*)", "``bool``", "Include the Velocity.", "False"


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

    "Selected Metadata (*outputs:selectedMetadata*)", "``token[]``", "Selected metadata to include in the PointCloud2 message", "[]"


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

    "Unique ID", "isaacsim.ros2.bridge.ROS2RtxLidarPointCloudConfig"
    "Version", "1"
    "Extension", "isaacsim.ros2.nodes"
    "Icon", "ogn/icons/isaacsim.ros2.bridge.ROS2RtxLidarPointCloudConfig.svg"
    "Has State?", "False"
    "Implementation Language", "Python"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "ROS2 RTX Lidar Point Cloud Config"
    "Categories", "isaacRos2"
    "Generated Class Name", "OgnROS2RtxLidarPointCloudConfigDatabase"
    "Python Module", "isaacsim.ros2.nodes"

