physics_atv_visual_mapping

Our implementation of voxel and BEV mapping, given lidar and camera.

Usage

ROS2: ros2 launch physics_atv_visual_mapping voxel_localmapping.launch.py

Python example can be found in scripts/offline_processing/postprocess_tartandrive.py

Examples

Example config can be found in config/ros/super_odometry_integration.yaml

ROS Nodes

VoxelMappingNode

Publishers:

Topic	Msg Type	Description
/dino_image	sensor_msgs/Image	A visualization of the image features extracted from the raw image
/dino_pcl	sensor_msgs/PointCloud2	The pointcloud, colorized with the VFM feature visualization
/dino_voxels	sensor_msgs/PointCloud2	The voxel grid with all visual features
/dino_voxels_viz	sensor_msgs/PointCloud2	The voxel grid with visualization features
/dino_gridmap	grid_map_msgs/GridMap	A BEV-projection of the voxel grid. Only publishes if terrain estimation is enabled

Subscribers:

Topic	Msg Type	Description
image_topic	sensor_msgs/{Image/CompressedImage}	The topic to get images from (configurable)
camera_info_topic	sensor_msgs/CameraInfo	The topic to get intrinsics from (configurable)
pointcloud_topic	sensor_msgs/PointCloud2	The topic to get pointclouds from (configurable)
odometry_topic	nav_msgs/Odometry	The topic to get odometry from (configurable). The map will be in this message's base frame