NVBLOX with Slam_toolbox

Robotics & Edge Computing Robotics - Isaac Isaac ROS
,
1

Hi team,

I’m planning to use nvblox for my robot. Can i use slam toolbox instead of Cuvslam for running Nvblox. Any advice would be greatly appreciated.

thanks

2

Hello @pranav.s.prakash88,

Thanks for posting in the Isaac ROS forum!

Isaac ROS nvblox itself is agnostic to which SLAM/odometry backend you use. It takes a depth image, a color image, and a pose as input, with which it computes a 3D scene reconstruction on the GPU.
So in principle you can use slam_toolbox instead of cuVSLAM, as long as:

  • slam_toolbox is publishing the map -> base_link (or similar) transform at a reasonable rate

  • your TF tree from map → base_link → camera is correct and matches the frames you configure in nvblox (e.g. global_frame, odom_frame, base_frame, camera_frame).

If you wire up TF as above, nvblox should work with slam_toolbox just like with any other odometry source.