Hello! I’m working on a scenario using Isaac sim, and I have a 2 question about how to get sensing data(load/unload, battery).
- How to calculate the load of the transporter
- It is known that properties can be published using ROS in the isaac sim API or ground truths related to properties can be obtained on the code. In this regard, I would like to know if the “load value” can be published directly in a simulation environment rather than a sensor, or if there is a demo code that calculates the load value. (A code that calculates only the weight of objects on a particular robot)
- How to find out the robot’s battery value
- I wanted to use battery value of the robots that exist in the simulation. So I looked it up and found that there was a battery-related communication file as a Battery.msg file in the “isaac_sim-2022.1.0/exts/omni.isaac.ros_bridge/noetic/share/sensor_msgs/msg”, but it seems that the message type is not used anywhere. So, I want to know if there is a code or function to publish ROS values related to the battery of the robot using the Battery.msg file. OR, Is there a way to know the battery in the API even if I don’t use the Battery.msg file?