Integrating Nav2 navigation stack with NVIDIA Isaac ROS GEMs

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Here is a project showing how to use Nav2 with NVIDIA Isaac Sim and Isaac ROS GEMs for robotic navigation.

We focus on a real-world problem where robots are damaged due to collision with forklift tines in warehouses. Commonly used robot sensors such as LIDAR can detect the body of a forklift, but can’t detect tines which are very close to the ground. We reproduce the problem in Isaac Sim and then use the Isaac ROS Stereo and Segmentation GEMs to generate point clouds of forklift tines and update the Nav2 costmap.

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We show the Carter robot successfully detecting and navigating around the forklift tines in the simulated environment using LIDAR and RGB cameras.

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For more details, please check out the technical blog and project GitHub.

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