Nvblox Nav2 Implementation

flavionzambi · November 12, 2023, 7:05pm

Hello ,
I’m having some troubles with implementing nvblox into nav2.Specifically iam not sure how to run the plugin / nvblox node that allows Nav2 to consume the nvblox distance map outputs. Iam on a jetson orin nano , i’ve gotten all of the installed isaac ros packages working so far I am just stuck on this. I am sure it is just my lack of knowledge about ros2 as im quite new to all of this.
Thanks In advance for any help.
Nzambi

Raffaello · November 13, 2023, 3:10pm

HI @flavionzambi ,
Welcome here to this forum :-)

Let’s split your question into two parts:

Install Isaac ROS

I don’t know which is your setup, but I suggest following our new documentation and for nvblox follow this simple quickstart

https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html

Nvblox and Nav2

The first example that I suggest following is the nav2_isaac_sim.launch.py
(If you want to run, you can test with Isaac SIM)

github.com

NVIDIA-ISAAC-ROS/isaac_ros_nvblox/blob/main/nvblox_examples/nvblox_examples_bringup/launch/nav2/nav2_isaac_sim.launch.py

# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0

import os

from ament_index_python.packages import get_package_share_directory

This file has been truncated. show original

This launch file runs nav2, passing the nvblox configuration (you can see the configuration from lines 185 to 253. This configuration allows the local_constmap and the global_constmap to use nvblox to detect obstacles

github.com

NVIDIA-ISAAC-ROS/isaac_ros_nvblox/blob/main/nvblox_examples/nvblox_examples_bringup/config/nav2/nav2_isaac_sim.yaml

%YAML 1.2
# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
---
bt_navigator:
  ros__parameters:

This file has been truncated. show original

Best,
Raffaello

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Nvblox Nav2 Implementation

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