Using ISAAC SDK on a Segway Robot with a Velodyne Lidar

Hi,

I am looking to use the navigation stack for a segway robot with a lidar. I am relatively new to using the ISAAC and even after going through the documentation, have some doubts that might seem very basic:-

  1. So far, I have just deployed the Carter application onto my robot. Some of the answers on the forum though speak of using the simple_robot tutorial. Am I on the right track?

  2. How do I interface the Velodyne Lidar with the Carter Application? I’m talking about hardware setup details and how the scan data from the lidar is sent over to Carter.

  3. The command for running the Carter package asks for a map as input. Are these to be created using GMapping?

Thanks.