How build and save map 3D reconstruction to use with nvblox nav2

Autonomous Machines Robotics - Isaac Isaac ROS
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How build and save map 3D reconstruction to use with nvblox nav2 ?

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Hi @AMR_all

It’s pretty simple! There are services to load and save a map generated from nvblox ROS Topics and Services — isaac_ros_docs documentation

ROS Service Interface Description
~/save_ply nvblox_msgs/FilePath Will save the mesh as the PLY (standard polygon file format, which can be viewed with MeshLab or CloudCompare) at the specified location.
~/save_map nvblox_msgs/FilePath Will serialize the entire map, including TSDF, ESDF, etc., at the given location.
~/load_map nvblox_msgs/FilePath Will overwrite the current map in the node with a map loaded from the given path.

The commands to user are like below

ros2 service call /nvblox_node/save_ply nvblox_msgs/srv/FilePath "{file_path: '/home/USERNAME/super_cool_map.ply'}"
ros2 service call /nvblox_node/save_map nvblox_msgs/srv/FilePath "{file_path: '/home/USERNAME/super_cool_map.nvblx'}"
ros2 service call /nvblox_node/load_map nvblox_msgs/srv/FilePath "{file_path: '/home/USERNAME/super_cool_map.nvblx'}"

Best,
Raffaello

3

Hi @Raffaello
I have tried to save map and load it following above instructions.
what i do

  1. in first terminal , i run : ros2 launch nvblox_examples_bringup realsense_example.launch.py
    mode:=dynamic
  2. in second terminal and third terminal i do : ros2 service call /nvblox_node/save_ply nvblox_msgs/srv/FilePath “{file_path: '/workspaces/isaac_ros-dev/super_cool_map.ply}”

ros2 service call /nvblox_node/save_map nvblox_msgs/srv/FilePath “{file_path: ‘/workspaces/isaac_ros-dev/super_cool_map.nvblx’}”

But i get error as in terminal
admin@orinnano-desktop:/workspaces/isaac_ros-dev$ ros2 service call /nvblox_node/save_ply nvblox_msgs/srv/FilePath “{file_path: ‘/workspaces/isaac_ros-dev/super_cool_map.ply’}”
waiting for service to become available…
requester: making request: nvblox_msgs.srv.FilePath_Request(file_path=‘/workspaces/isaac_ros-dev/super_cool_map.ply’)

and

admin@orinnano-desktop:/workspaces/isaac_ros-dev$ ros2 service call /nvblox_node/save_map nvblox_msgs/srv/FilePath “{file_path: ‘/workspaces/isaac_ros-dev/super_cool_map.nvblx’}”

requester: making request: nvblox_msgs.srv.FilePath_Request(file_path=‘/workspaces/isaac_ros-dev/super_cool_map.nvblx’)

i have wait more than 10 min to complete this but, it was as it is. map duration was 5-10 seconds.

Please help me how to overcome this problem. I am stuck in this for 4 days. Thank you in advance.

Best,
Amar