I am using nvblox along with nav2 along with my stereo camera for navigation.
I need help tuning the params for nvblox, especially help with the following:
Additionally, would really appricate any documentation beyond the isaac_ros_nvblox API documentation that better explains the params and their impact.
Thanks
hi @vishrut1
Thank you for your message, let me reply to your questions:
Most parameters affect nvblox in various ways, particularly in terms of map building size and communication. I believe these initial parameters are the most relevant, as they influence the behavior of the simulation, whether shifting from 3D to 2D or adjusting the cube size.
| ROS Parameter | Type | Default | Description |
|---|---|---|---|
esdf_and_gradients_unobserved_value |
double |
-1000.000 |
This value will be used for for unobserved voxels in the dense output grid. |
esdf_mode |
integer |
1 |
Whether to compute the ESDF in 3D (0) or 2D (1). |
voxel_size |
double |
0.050 |
Voxel size (side of cube in meters) to use for the map. |
The only parameters that impact less the performances are related to the topic naming or for debug. If you can help me with the type of performance are you looking I can find which parameters impact more for your setup.
These parameters are related to the map clearing.
| ROS Parameter | Type | Default | Description |
|---|---|---|---|
map_clearing_frame_id |
string |
base_link |
The name of the TF frame around which we clear the map. |
map_clearing_radius_m |
double |
5.000 |
Radius around the map_clearing_frame_id outside which we clear the map. Note that values <= 0.0 indicate that no clearing is performed. |
but if you have an example, I can forward it to the engineering to better figure out where this is coming from this issue.
Best,
Raffaello