Changing the Kaya reference code for deployment on custom 4-wheel robot

[arjunsengupta98]

Hello

I’m planning to modify the Kaya application code to deploy on my custom 4-wheel differential drive robot. Is this possible/advisable?

Any help would be appreciated.

Details are mentioned here-

More errors in Kaya build instructions

Hello Everyone, I have created my own custom 4-wheel differential drive robot assembly (without wheel odometry) with a Jetson Nano and realsense D435 camera. I also have access to a BMI088 IMU which I may or may not use. I was thinking about modifying the current kaya application for deployment on my robot. For odometry, I wanted to obtain readings directly from the SVIO GEM (https://docs.nvidia.com/isaac/isaac/packages/perception/doc/visual_odometry.html) as a substitute for wheel odometry. …