Nvblox Map Clear Problem

Autonomous Machines Robotics - Isaac Isaac ROS
1

Hello,
When I using isaac_ros_nvblox to create 3D map, the map will be cleared period of time.
Is there any parameter adjust to keep the map? I want to build the whole factory
surrounding. Here is my operating step.

  1. Using Isaac Sim simulation world
  2. Download isaac_ros_common、isaac_ros_nvblox code, terminal run command
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py

nvblox_clear_map

My environment is as follows:

  • Operating System: JetPack 6.0 (Ubuntu 22.04)
  • ROS: Isaac ROS 3.0

Thank you!

2

Hi @a10263790

Welcome to the Isaac ROS forum.

The map is set to decay at a certain rate by default (to avoid corruption due to pose drift)
You could turn off decay by setting decay_tsdf_rate_hz to 0.0 here .

Best,
Raffaello

3

Thank for your reply.
I fix ths problem by setting decay_tsdf_rate_hz.

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