Voxl-Mapper pipe to ROS2

Jeffrey Mao

Does there exist any tools to pipe the output of Voxl-mapper to a topic in ROS2? Also is it possible to use voxl-mapper with just stereo cameras generating pointclouds or is a ToF sensor needed

tom

@Jeffrey-Mao Have you experimented with voxl-mpa-to-ros2?: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2

tom

@tom https://docs.modalai.com/ros2-installation-voxl2/#mpa-to-ros2

Jeffrey Mao

@tom We have experimented with it, but I am not sure about the format of voxl-mapper, and have trouble getting voxl-mapper working with just stereo cameras. Do you guys have more resources on it besides the github page?

We are also wondering if it is worth it getting the voxl-mapper working, or will it automatically work with voxl_mpa_to_ros2 pointcloud interface or have some different representation which requires us writing our own piep interface?

Also what branch is the stable version of voxl_mpa_to_ros2 because I can see the master branch doesn't allow us to stream QVIO odometry?

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/master/colcon_ws/src/voxl_mpa_to_ros2/src/interfaces/qvio_interface.cpp?ref_type=heads

I believe you are publishing the same topic 2 different message types which I don't believe is allows in ROS2.

void QVIOInterface::AdvertiseTopics(){

char topicName[64];

sprintf(topicName, "%s", m_pipeName);
pose_pub_ = m_rosNodeHandle->create_publisher<geometry_msgs::msg::PoseStamped>
    (topicName, rclcpp::SensorDataQoS());

odom_pub_ = m_rosNodeHandle->create_publisher<nav_msgs::msg::Odometry>
    (topicName, rclcpp::SensorDataQoS());

m_state = ST_AD;

}

Jeffrey Mao

Nevermind I figured it out. Once the voxl_mapper service is running it is automatically configured to run the voxl_mpa_ros2 as a pointcloud