I have a mobile robot spawned in Isaac Sim, and I have a couple of questions regarding collisions as follows.
If I have understood it correctly, irrespective of my robot shape, I can make proxy shapes just for collision. I have a rather complicated and intricate robot, and I think it will be beneficial if I could have a simple collision structure since it simplifies the collision solver and greatly improves performance. I’m not clear on how to do this though.
Right now I have 3 ROS interfaces with my robot. One is the ROS Differential base, one is the ROS Lidar and one is the ROS Camera. In addition to these, my intention is to have a ROS Topic which continuously publishes the message whether the robot has collided or not. The first thing is, how do I detect a collision in Isaac Sim. And once that is detected, how do I create and send the message to a ROS Topic for the same?
Thanks in advance for your help!