2D Occupancy Grid Map using Nvblox

[mvishnu1404]

Hi,
I would like to create a 2D occupancy grid map in .pgm and .yaml formats using Nvblox with an Intel RealSense D435i camera, without relying on a LiDAR sensor. I’m working on an x86_64 system and plan to generate the map by manually moving the sensor, without attaching it to a robot.

I’ve reviewed the Nvblox documentation, and I’m wondering if the ESDF slice can be directly used for occupancy grid map conversion. If not, could you please guide me through the steps required to achieve this?

[Ahung]

Hi @mvishnu1404

Welcome to the Isaac ROS forum.

It looks the same topic as below. Could you check it out?

How to Convert .nvblox Map to an Occupancy Grid Map (.yaml) for use in Navigation?

🧭 [Question] How to Convert .nvblox Map to an Occupancy Grid Map (.yaml or other format) for use in Navigation? Hi everyone, I’m using Isaac ROS Perceptor and trying to load a prebuilt global map during navigation. Here’s my setup and where I’m stuck: 🔧 1. Global Mapping Phase I create the global map using this config: 🔗 nvblox_global_mapping.yaml It contains: decay_tsdf_rate_hz: 0.0 This way, the TSDF is not decayed, and the full global map is preserved. I save it using: nvblox_after_sh…

Best,
Ahung

[sakalbatuhan1]

I honestly believe the documentation should be updated regarding this paramater @Raffaello .

I spent a week understanding it 😁

[Ahung]

Hi @sakalbatuhan1

Thanks for the feedback. I forward this suggestion to our engineer.

Best,
Ahung