I am currently working on a project to simulate and control a custom Mecanum rover using the NVIDIA Isaac Simulator. I am using this specific rover model from GitHub: GitHub - vstoneofficial/mecanumrover_samples: メカナムローバーVer2.0 サンプルROSパッケージ
So far, I have managed to load the URDF file of the robot into the Isaac Simulator, and I can manually set the velocity in the simulator to move the robot. However, I am facing difficulty in controlling the robot using a publication from ROS. I have tried using action graphs, but it hasn’t been successful.
Has anyone encountered a similar issue or has experience controlling a custom robot in the Isaac Simulator with ROS integration? I would greatly appreciate any guidance or suggestions on how to control the Mecanum rover using ROS messages in the Isaac Simulator.
Here are the steps I’ve taken so far:
- Loaded the custom URDF model into the Isaac Simulator scene.
- Attempted to control the robot using action graphs (unsuccessful).
- Manually set the velocity in the simulator to move the robot.
- Tried to control the robot using ROS publications (unsuccessful).
Here is a picture of my Action Graph:
Please let me know if you need any more information or clarification about my issue. I’m looking forward to your help and insights.