i currently try to simulate a holonomic robot in unity.
I use the //apps/navsim:navsim_navigate example but i changed to the holonomic navigation module:
In Unity i receive on the “navsim/input/base_command” channel a Vector with 3 components.
Can anyone help me what this 3 components are? (velocity x, velocity y and rotation??)
While trying to send the current state to isaac i send a message with the following infomation (velocity x, velocity y, angular velocity, acceleration x, acceleration y and rotational acceleration). and i get a error code in isaac saying:
“ERROR messages/tensor.cpp@60: Tensor data size does not match. Proto provides 48 bytes while tensor expected 32 bytes.”
Can anyone help me out, understanding what the input/output messages to/from the simulation are?