Holonomic drive messages

Autonomous Machines Isaac Omniverse Isaac Sim
#1

Hi,

I’m trying to do holonomic navigation in warehouse.

I replaced Kaya_REB instead of Carter_REB in “Warehouse Navigation with carter” sample.

added a lidar topic in Kaya_REB/base_link and added a REB_Lidar in Kaya_REB related to the lidar topic.

When play and create Application from Robot Engine Bridge, the lidar works and moves with the Kaya, then I ran the Isaac SDK part for holonomic navigation, the goal pose and path generated accordingly, but Kaya moved in wrong path.

screenshots:

kaya1
kaya11847×1019 389 KB

kaya3
kaya31849×1027 665 KB

kaya2
kaya21830×1004 363 KB

I am not sure if it is the right steps to simulate holonomic navigation with Kaya.

  1. I didn’t modify the Kaya model to attach a lidar on it, I just added a lidar topic and REB_lidar and it can detect obstacles.

  2. Is that possible to check REB_HolonomicBase result? input/output messages? or the speed message that send from IsaacSDK and received by IsaacSim omniverse?

Appreciate for any helps!

#2

Unfortunately, Kaya is not yet supported in Isaac Sim. Kaya’s holonomic drive base simulation scripts have not yet been implemented