ROS 1 Wapper Nvblox (Under Developing)

Nvblox is a package for building a 3D reconstruction of the environment around your robot from sensor observations in real-time. This repo is modified from ROS 2 wapper Isaac ROS Nvblox and source nvblox.

Brief Explanation

Because I mainly focused on mapping, I removed the simulation and navigation modules from the original ROS2. Latest version nvblox has a weird problem when export target config when compiling, so I modify the cmakelists a little, I am not sure it is because my computer or not, so i directly upload nvblox fold now, I will change to submodule in the future. Kudos to nvblox and Isaac ROS Nvblox. License as source code.

Below is an example of ROS 1 test on 3dmatch’s Sun3D mit_76_studyroom scene:

TODO

• Test base 3dmatch_node function on 3dmatch data
• Test nvblox_node on rosbag, you can get script convert 3dmatch to bag for test nvblox_node
• Add more function on EuRoc, KITTI and so on data.
• Add stereo depth map filter function

Because I have to go to intern next month for three months, so this repository may be updated slowly, feel free to contribute.

Native Installation

Install dependencies

You should install the dependencies as nvblox and install ROS 1 melodic, also install catkin build tool sudo apt-get install python-wstool python-catkin-tools.

Build and run test

# Build
mkdir -p ~/nvblox_ws/src
cd ~/nvblox_ws/src/
git clone --recursive https://github.com/hjxwhy/nvblox_ros1.git
cd nvblox_ros1/nvblox/nvblox
mkdir build && cd build
cmake ..
make -j8
cd ~/nvblox_ws
catkin build
# test
# You should download the data, and copy the data path to nvblox_ros/launch/3dmatch.launch
source devel/setup.zsh # source devel/setup.bash
roslaunch nvblox_ros 3dmatch.launch # I have only test 3dmatch_node, the nvblox_node still have bug!!!