`isaac_ros_esdf_visualizer`

Source code on GitHub.

Overview

The isaac_ros_esdf_visualizer package offers functionality for visualizing ESDFs received from nvblox. This package can be useful for debugging and observing cuMotion’s world.

API

ESDFVisualizer

ROS Parameters

ROS Parameter	Type	Default	Description
`voxel_dims`	`float array`	`[1.25, 1.8, 1.8]`	Maximum dimensions of the voxel grid in meters
`grid_position`	`float array`	`[0.0, 0.0, 0.0]`	Grid position at which to place the visualized voxels
`voxel_size`	`float`	`0.05`	Size of a voxel in meters
`publish_voxel_size`	`float`	`0.025`	Size of a published voxel in meters
`max_publish_voxels`	`int`	`50000`	Maximum number of voxels to publish
`esdf_service_name`	`string`	`/nvblox_node/get_esdf_and_gradient`	Service to query for the ESDF and gradients
`robot_base_frame`	`string`	`base_link`	Base frame of the robot

ROS Topics Published

ROS Topic	Interface	Description
`/curobo/voxels`	visualization_msgs/Marker	Voxels published for visualization

ROS Services Requested

ROS Service	Interface	Description
`esdf_service_name`	nvblox_msgs/EsdfAndGradients	Service that takes an axis-aligned bounding box (AABB) for the region of interest and returns a dense ESDF and gradient field for that region.