Exporting map from voxl-mapper

darwin.keem

Hi,

I'm working on integrating other service based on voxblox map on voxl-mapper. Is there any ways to export map made from voxl-mapper like ROS advertising?

Thanks.

Arjun Jain

@darwin-keem you can save the map from the web portal. It gets saved on the board at a specific location. You can then copy it and render it in your software.

darwin.keem

@Arjun-Jain Thanks. Is it possible in real-time processing?

Matt Turi

@darwin-keem

The map is published in real-time by voxl-portal to a websocket at: ws://<VOXL_IP>:80/mesh.
If you would like to process the map real time without reading from disk, you could have another service connect to the socket and parse the binary data as defined here in voxl-portal:
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/web_root/js/mapper.js#L260

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