Comments (3)
Hi there.
This is a really good question and something that I've thought a bit about. You're correct that at the moment there really is no good way for downstream nodes to consume the 3D map.
Our friends at NVIDIA research who use nvblox for path-planning for robot arms (and who use nvblox for 3D mapping), take the approach of building nvblox, the ROS independent library, into their path-planner. But ideally, we'd like people to be able to consume the map in ROS.
Unfortunately, I think that with the resolution and rates nvblox is typically run at, the approach we took in voxblox of transmitting map deltas is not ideal. In nvblox we'd have to copy 3D voxels back to CPU, potentially serialize them, and copy them back to the GPU on the receiver(s) end. I think that for typical usage this would be too inefficient.
The correct approach, I think, is to do messaging using shared GPU memory. This is possible in ROS2, see here for example for the isaac_ros flavor.
There is a chance we'll do this in the future, but we'll have to see where the project goes.
from isaac_ros_nvblox.
I see. Seems like the shared GPU memory messaging would be a good approach then. Thanks for the advice, I will try to integrate nvblox directly into my project then.
For anyone who still wants a quick way to share the 3D map inefficiently, what I did was modify the pointcloud publishing function to publish a pointcloud of the full 3D map every time. On my end, I then stored the pointcloud in a hashmap which took a couple seconds for a pointcloud of about 0.5-1M points (working on CPU, no GPU accel) - usable for prototyping.
from isaac_ros_nvblox.
I have to add that it would be nice to at least have a ros interface for querying individual voxel values. I know it wouldnt perform too well but it would be at least something
from isaac_ros_nvblox.
Related Issues (20)
- What is the car used in this demo? HOT 2
- `Failed to call git rev-parse` and `Failed to build base image: isaac_ros_dev-x86_64, aborting.` HOT 2
- Occupancy grid not cleared if map_clearing_radius_m > 0 and use_static_occupancy_layer: true HOT 3
- Cannot see any result from example HOT 1
- No result from Realsense live data HOT 1
- realsense_splitter_node fails to load on Jetson Xavier NX HOT 2
- How could the robot localize after loading a saved map? HOT 3
- ToF camera integration with Nvblox HOT 8
- Caught exception in launch (see debug for traceback): __init__() got an unexpected keyword argument 'condition' HOT 3
- No colored mesh and costmap output HOT 1
- isaac sim example crashes HOT 3
- Realsense Firmware for vslam and nvblox HOT 2
- colcon build --symlink-install failed, missing vpi config file (inside docker) HOT 1
- Why save_map service just give me a flat esdf file? HOT 1
- Process dies after /nvblox_node/save_ply service call HOT 1
- container condition & mapping HOT 1
- What's the realistic maximum size this can run on an Orin? HOT 8
- Visualize nav2 costmaps HOT 1
- colcon build --symlink-install failed (Native Installation Ros2) HOT 2
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from isaac_ros_nvblox.