We assume you already installed voxblox via catkin build. Then,
pip install -e .
The build python module is called voxblox_ros_python and can be used as follows:
import numpy as np
import rospy
from voxblox_msgs.msg import Layer
from voxblox_ros_python import EsdfMapClientInterface
voxel_size, voxels_per_side = 0.05, 16
esdf = EsdfMapClientInterface(voxel_size, voxels_per_side)
topic_name = "/voxblox_node/esdf_map_out"
rospy.init_node('listener', anonymous=True)
s = rospy.Subscriber(topic_name, Layer, lambda msg: esdf.update(msg))
pts = np.random.randn(100, 3)
dists = esdf.get_distance(pts)
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