1

Hello, I hope to use the wheel odometry in Isaac Sim. How should I go about using it?
My Isaac Sim version is 4.1.0 on Ubuntu 20.04, and I want to use ROS1. All of my projects are based on ROS1:(
What should I do? I found a block named ‘Get Wheel State’ in the Action Graph, but I don’t know how to correctly output the results. Can you guide me on this?

2

Do you need vehicle odometry or wheel odometry? Could you check if the information in Transform Trees and Odometry — Omniverse IsaacSim is helpful for your problem?

4

Thank you for your help. I need wheel odometry, and I have no idea how to use it… I couldn’t find any specific details about wheel odometry.
My English isn’t great, and some grammar might be off, sorry…

5

i solved my problem，thanks for your help.