The Nvblox Carter Closed Loop and Nvblox Isaac Sim apps can also be run in combination with Lidar EGM mapping. The Navigation Stack will then use the cost maps of both perception libraries.
The usage is identical as documented for the Nvblox apps. See the corresponding pages below:
To run the combined Nvblox and Lidar EGM apps, just change the app name accordingly:
Carter:
carter_demo_occupancy_nvblox_and_egm_<environment>Isaac Sim:
isaac_sim_single_robot_nvblox_and_egm_<environment>