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
workspace_file_path	string	''	Path to a workspace file that defines the grid boundaries. See isaac_manipulator_bringup/config/nvblox/workspace_bounds/zurich_test_bench.yaml for an example.
grid_size_m	float array	[2.0, 2.0, 2.0]	Size of the grid in meters. Only used when workspace_file_path is not set.
grid_center_m	float array	[0.0, 0.0, 0.0]	Grid center position at which to place the visualized voxels. Only used when workspace_file_path is not set.
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.