Navigation Stack

The Isaac navigation stack safely navigates a robot from one point to another, using, in this release, LIDAR sensors and focus on a wheeled robot base. A camera-based navigation stack is planned for a future release.

This section contains procedures for running the navigation stack in simulation and on the actual robot, and for using the visualization tool Sight to get an insight into the inner workings of the navigation stack, and which algorithms are used to build the stack.

Contents

• Introduction
  
  • Getting Started
• Visualization with Isaac Sight
  
  • The Map View
  • The Local View
• Isaac Navigation
  
  • Nodes and Messages
• Carter
  
  • Running the Carter Application
  • Carter Application Nodes
• The Navigation Algorithm
  
  • Global Path Planner
  • Trajectory Planner
• Remote Joystick using Sight
  
  • Setting up an Isaac Application to use the Virtual Gamepad Widget
  • About the Virtual Gamepad Widget
  • Using the Virtual Gamepad Widget
• Tuning the Navigation Stack
  
  • Localizer
  • Global Planner
  • Local Planner
  • Controller