Saving a map in Isaac Perceptor

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello,
I want to generate and save a map in Isaac Perceptor because the necessary packages for that (nvBlox, VSlam, and DNN) are included in it.
The problem is that the map gets cleared after a period of time. In the nvblox package, you can change the parameter decay_tsdf_rate_hz to 0.0 to prevent this issue. However, in the Perceptor package, I only found a file called “nvblox_perceptor.yaml”, and this file does not contain the decay_tsdf_rate_hz parameter.
What can I do to retain the points in the 3D environment?

2

Hi @maltedaniel.lueder, and welcome to the Isaac ROS forum.

You can modify the file nvblox_perceptor.yaml by adding decay_tsdf_rate_hzand/or other parameters if you need. The nvblox node will load all parameters.

Let me know if I helped you.

Best,
Raffaello

3

Hey @Raffaello

thank you for the information.
It works with the NvbloxMesh Topic, but not with the “back_projected_depth” topic.
Is there a parameter, that the pointcloud is not cleared after a period of time?