Nvblox 3D voxel grid

Autonomous Machines Robotics - Isaac Isaac ROS
1

Hi
I am using nvblox_node (with isaac slam) to 3D mapping of the environment and have two questions:

  1. is it possible to publish the /nvblox_node/mesh topic (TSDF) as sensor_msgs/msg/PointCloud2 type (instead of nvblox_msgs/msg/Mesh)?
  2. is it possible to publish the /nvblox_node/pointcloud topic (2D ESDF) as 3D ESDF (instead of slice map of the space)?
2
  1. You can sample the Mesh messages into a PointCloud2 yourself but this is not provided at present.
  2. We’ll consider this feature as well for a future release. Thanks!