ROS navigation:

Omniverse Isaac Sim
1

When conducting ROS navigation, how to set the direction of odometry, whether it is set by the urdf model or other settings, I hope someone can help me answer it, thank you very much! !

2

Are you looking to setup the initial location of the robot ?

3

Hi @fmy553 - I think this document will be useful to you for ROS Navigation. Let us know if you have any particular question from it.

https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_ros_navigation.html

4

yes,Because the direction of the car in Rviz is wrong when I am navigating. @eds17m007

5

~/.local/share/ov/pkg/isaac_sim-2022.2.0 This is the path of Isaac Sim , if you do "ls"in this path , you can see the ros_workspace and ros2_workspace.

if you are using ros2_workspace then in carter_navigation package inside ros2_workspace , then carter_navigation_params.yaml file is there where params
set_initial_pose: True
initial_pose: {x: -6.0, y: -1.0, z: 0.0, yaw: 3.14159}
you can change this to setup the initial location and orientation of the robot.

for ros_workspace the things are also same ,
carter_2d nav package under navigation , in carter_navigation.launch file you can set the initial pose for amcl to set the initial location.

<param name="/amcl/initial_pose_x"  value="8.0"/>
<param name="/amcl/initial_pose_y"  value="-2.0"/>
<param name="/amcl/initial_pose_a"  value="3.14"/>