Visual Inertial Odometry with Unitree A1 Quadruped robot

I am trying to reproduce the example in this link.

I installed VINS-Fusion for Ubuntu 20.04. I am using ROS Noetic.

When I run the simulation, all the topics are being published as expected and I can see the point cloud and images in RVIZ.

topics published:


I tried to use the tool 2D Nav Goal and Published Point in RVIZ, but the robot can’t move in Isaac Sim.
I also tried to manually publish into the topics /move_base_simple/goal and /clicked_point but nothing happens.

I just tested using Ubuntu 18.04 and ROS Melodic and I can’t move the robot using RVIZ despite the followinjg topics are active:

  • /move_base_simple/goal
  • /clicked_point