`isaac_ros_esdf_visualizer`#

Source code available 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.