Base_Link Setup for Nvblox, cuVSLAM and Nav2 Integration

Robotics & Edge Computing Robotics - Isaac Isaac ROS
,
1

Hi, I have faced some problem on defining base_link when integrating nvblox with Nav2.
I am running on Jetson Orin Nano 8GB with JetPack 6.0 and Realsense D435i in docker.
I have went through the beginner tutorial for cuVSLAM and Nvblox, I have successfully use realsense camera to generate occupancy grid map with tf tree:
map → odom → camera0_link
Now I would like to integrate with Nav2, so I will need base_link frame, I faced some problem to launch the nova carter launch file and the example file also do not show a way to define base_link → camera0_link. Pls help me on this. The correct way to run the whole system should be:
map → odom → base_link → camera0_link.
I have tried adding static transform publisher in realsense_example.launch.py in nvblox_example_bringup, but seems not the correct way.

2

Hi @wongpeisen

Thank you for your post.

Can you also share your rqt_graph to have an idea of your setup?

Have you seen the example where Nav2 is integrated with NVBlox?

Best,
Raffaello