Publishing PointCloud from Replicator

[eunseon02]

I tried to publish a PointCloud generated by Replicator, so I wrote a script in the Script Editor like this:

import omni.replicator.core as rep
import asyncio
import os

async def export_pointcloud_only():
    # 카메라 생성
    camera = rep.create.camera(position=(1, 1, 1), look_at=(0, 0, 0))

    # Render product 생성
    render_product = rep.create.render_product(camera, (512, 512))

    # PointCloudWriter 설정
    writer = rep.WriterRegistry.get("PointCloudWriter")
    output_dir = os.getcwd() + "/_out"
    print(f"Saving pointcloud to: {output_dir}")

    writer.initialize(
        output_dir=output_dir,
        camera_prim=camera,
        renderer=render_product,
    )
    writer.attach([render_product])

    for i in range(1):  # 5 프레임만 캡처
        await rep.orchestrator.step_async()

    await rep.orchestrator.wait_until_complete_async()
    writer.detach()

# 실행
rep.orchestrator.set_capture_on_play(False)
asyncio.ensure_future(export_pointcloud_only())

and, I also added the following blocks to the Replicator / SDGPipeline:

However, I still can't get the PointCloud topic in ROS2.

[RandomOakForest]

Thank you for posting this. How are you verifying you get the pointcloud? Have you tried the following?

ros2 topic list | grep point_cloud
ros2 topic echo /point_cloud --no-arr

Also, how are you controlling the publishing rate? For example:

gate_path = omni.syntheticdata.SyntheticData._get_node_path(
    "LidarIsaacSimulationGate", 
    render_product
)
og.Controller.attribute(gate_path + ".inputs:step").set(step_size)