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qcr / benchbot

BenchBot is a tool for seamlessly testing & evaluating semantic scene understanding tools in both realistic 3D simulation & on real robots
BSD 3-Clause "New" or "Revised" License
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How can I get imu data from isaac.imu.ImuSim ? #4

Closed liucsg closed 4 years ago

liucsg commented 4 years ago

Hi, I want to get imu data from isaac.imu.ImuSim through adding nodes and edges in benchbot_simulator.app.json, like this,

** nodes[ { "name": "imu", "components": [ { "name": "message_ledger", "type": "isaac::alice::MessageLedger" }, { "name": "imusim", "type": "isaac::imu::ImuSim" } ] } ]

edges { { "source": "RigidBodySubscriber/isaac.alice.TcpSubscriber/bodies", "target": "imu/imusim/bodies" }, { "source": "imu/imusim/imu_raw", "target": "imu_publisher/imu_publisher/robot_imu" } }**

Meanwhile, I have added two files,including imu_publisher.hh and imu_publisher.cc . benchbot_simulator.zip

btalb commented 4 years ago

This question is digging into the guts of the Isaac SDK. We have not worked with the IMU sensors of the Carter robot, but can confirm you are editing in the right area to add IMU data.

I'd recommend looking at the Isaac documentation (note we use version 2019.2 in BenchBot), or asking around on the Isaac Developer Forums. Nvidia have been very helpful there when we've needed a guiding hand throughout development.