I’m currently trying to get the ROS Navigation Stack working on omniverse.
I was able to move the robot using Omniverse’s ROS_JointState and ROS_PoseTree, and display it in Rviz using tf.
However, I can’t think of a good way to output the robot’s odometry from Omniverse.
I thought I could use the data published by ROS_JointState, but result is not good.
I also use the data subscribed by ROS_JointState, but there is too difference.
I would appreciate it if you could add the ability to send Odometry ROS topics in a future update.
Or does anyone have a better idea about Odometry?
I checked the data, and the data sent from JointStates is different, and there is a big blip, even though I’m moving at a constant speed.
(The X axis of LinearVelocity in Inspect Physics and the number on the left side of the terminal (the velocity of the new wheel_left_joint sent by JointStates) should be the same.)
This is a difficult cause to solve.
I’m assuming that the data shown in Inspect Physics is correct.
Is it a bug that this value is not sent in JointStates?