because I need to use the IMU, I set the frequency of the IMU to 200hz as follows:
I use action graph to publish IMU topic, And set the Time Steps Second value in PhysicScene and window – simulation – settings – Physics Settings – Min Simulation Frame Rate to enable the IMU frequency to reach 100hz or 200hz, and run rosparam set use_sim_time true. Using rosrun rqt_topic rqt_topic to check the topic frequency, I can see that I set it successfully.
Then I found that when the simulation frequency was higher, such as the IMU frequency of 200HZ, using the action graph of controlling the car’s movement with this keyboard from issac sim tutorial: 2. Drive TurtleBot via ROS messages — Omniverse Robotics documentation (nvidia.com) and Command :rosrun teleop_twist_keyboard teleop_twist_keyboard.py, the car would not turn correctly, it was chaotic.
And I control the robot movement through the command: :rosrun teleop_twist_keyboard teleop_twist_keykey. py. Before pressing the motion button, IMU reading remained unchanged when the robot was stationary. After pressing the motion button, the IMU reading changes continuously when the robot is stationary.
1 Like
Hi @15974625082,
Could you try re-running your setup in the latest the release IsaacSim 2023.1.0 to see if the issue is now resolved?