I’m trying to use the navsim navigation application by replacing Unity3D with my own simulation app. I am sending the same data; Firstly the scenario reply as JsonProto and then RangeScanProtos and StateProtos constantly. These seem to be enough for the navigation to work when using Unity3D. However by spectating WebSight, I notice that the navigation app receives all the data normally except for the StateProtos. The “navigate - Speed profile” only shows zero values for the “estimated_speed” and “observed_base_speed” values even when they are not. I have verified that the connection is okay and all the data sent is correct. Also, the range scan data seems to be received succesfully.
It seems that the StateProtos are received but somehow not processed as there are no errors displayed. Is there something I am missing? Do timestamps matter? Or something other than scenario reply has to be sent before the navi app accepts state data?
I have a custom C# .Net app running on windows 10 which does not use the C api provided in Isaac SDK.
Thanks in advance