Hello,
I am trying to develop and distribute an isaac app to a custom robot that I’ve built to make use of the isaac sdk navigation GEM; the robot uses a lidar and RGB-D camera as well as a custom wheelbase. I tried to study the sample code given for the carter hardware example to figure out how the physical parameters of the carter robot (position of wheelbase relative to center of mass, dimensions of robot) were passed to the app, but could not find where this was.
Would the RobotShapeComponent cpp and hpp files under the planner package (/isaac/sdk/packages/planner/) be the correct way of inputting the custom robot shape into the app? Is it possible to provide an example of a custom robot shape and wheel base implemented into an app?
Best,
Yousuf Baker