Isaac Sim / Carter localization


Can I read the the position of the robot at each time step?

Yes, you can use the “rigid_state” channel to read the information which is in “RigidBody3GroupProto” format.

Thanks, I have another question regarding the Carter Sim. There is a channel here is called “scan_localization” that I believe it uses Particle Filter in order to localize the robot. I was wondering where the Cartographer is used. Are we using Google Cartographer in the carter sim? Are we using Cartographer only for creating the map? And then for localization we use Particle filter?