# ROS2 Integration with voxl-mapper

Source: https://forum.modalai.com/topic/3418/ros2-integration-with-voxl-mapper
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: mapping
Posted: 2024-05-09 18:52:33 UTC by Jeffrey Mao
Replies: 0 · Views: 1749

## Jeffrey Mao · 2024-05-09 18:52:33 UTC

Hi Quick question for the Voxl2 Mapper is there a way to get occupancy or TSDF/ESDF into ROS/ROS2 topic publishing? 

Also if I want to run the voxl2_mapper with the voxl-dfs-server and no time of flight? How can I check the pipes or what is the output pipe of the voxl-dfs-server?

	"depth_pipe_1":	"/run/mpa/stereo_front_pc",
	"depth_pipe_1_enable":	false,
	"extrinsics1_name":	"stereo_front_l",
	"depth1_rate":	10,
	"depth_pipe_2":	"/run/mpa/stereo_rear_pc",
	"depth_pipe_2_enable":	false,
	"extrinsics2_name":	"stereo_rear_l",
	"depth2_rate":	10,
	"depth_pipe_3":	"/run/mpa/dfs_point_cloud",