ModalAI Forum

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",

Hi,

I installed ROS2-Foxy on the VOXl2, and am wondering where this package is

https://docs.modalai.com/ros2-installation-voxl2/

They mentioned a

MPA-TO-ROS2

Once the installation of ros2 has been done, the user can then install voxl-mpa-to-ros2 - which is a ros2 node that will convert the following from MPA to ROS2 messages:

Do you guys have a link for me to clone the repository.

Thanks,

Jeff