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