How to properly install nvblox and use it with PX4 + Gazebo + ROS 2 Humble?

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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Hello! (I’ll start by saying that I’m a beginner!)
I’m setting up a drone simulation in Gazebo + PX4 (1.15.4) + ROS 2 Humble. I want to connect NVBlox for 3D map reconstruction and further planning.

I have a few questions about installation and launch:

For installation, I tried the following set of commands:

sudo apt-get install python3-pip libglib2.0-0 libgl1 # Open3D dependencies

pip3 install https://github.com/nvidia-isaac/nvblox/releases/download/v0.0.8/nvblox_torch-0.0.8rc5+cu12ubuntu22-863-py3-none-linux_x86_64.whl

Are these commands sufficient to install nvblox?

Another question: how do I correctly run 3D reconstruction in conjunction with Gazebo?

I am launching a drone with a depth camera (make px4_sitl gz_x500_depth), and I want NVBlox to build 3D reconstructions, but I don’t quite understand how it works.

The NVBlox documentation mentions Trajectory Optimization. I don’t quite understand how it works and how to run “Trajectory Optimization”:

I would appreciate any tips on how to:

Install NVBlox (apt / pip / build from source),

Run 3D reconstruction in PX4+Gazebo simulation,

Understand how Trajectory Optimization works and how to enable it.

I would be very grateful for any help or advice. Thank you in advance!

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PLS!!!

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Hi @birdupcompany

Welcome to the Isaac ROS forum.

The quick way to work with Isaac ROS nvblox is to follow our tutorial

After that, you will figure out how to use it.

Best,
Raffaello

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Hello. I am also trying the same thing by mapping topics from realsense splitter example but to no avail yet. let me know if you find any success !