Holonomic drive messages

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:

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!

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