I am trying my hand at some basic movement commands. I am wanting to be able to send a message to carter_sim that says something simple like spin on the spot or move forward by giving it a linear and angular velocity. I am not looking to use the goal setting functionality with the navigation stack and all that includes. Simply move the robot with a given velocity message.
Currently though I am at a loss as to where to start. I don’t know what Proto message I can send and to what module to get it to work.
My current impression is that I would send a StateProto to “base_simulation/isaac.flatsim.DifferentialBaseSimulator/diff_base_command” and that would translate the velocity messages into movement.
However, I am not sure about this and don’t know how I would correctly create a StateProto if I am correct.
Can I receive some guidance here please?