Hybrid-VoxelMap ROS 2

Click the image to watch the demo video

Hybrid-VoxelMap is a semantic-driven LiDAR-inertial odometry system that extends VoxelMap / VoxelMap++ by selecting a local map representation according to semantic cues:

Each voxel can be represented as either a plane or a Gaussian distribution.
A unified scan-matching model combines point-to-plane and probabilistic constraints.
The ROS 2 version supports KITTI / SemanticKITTI-style Velodyne data and Livox Mid-70 + IMU data.

This branch is the ROS 2 Humble port tested on Ubuntu 22.04 and Jetson AGX Orin.

Related Paper

Gaussian or Plane? Both: Semantic-Driven Voxel Representation for LiDAR-Inertial Odometry

1. Prerequisites

1.1 ROS 2

The ROS 2 version is tested with:

Ubuntu 22.04
ROS 2 Humble
PCL >= 1.12
Eigen >= 3.3

Install common dependencies:

sudo apt update
sudo apt install -y \
  ros-humble-desktop \
  ros-humble-pcl-conversions \
  ros-humble-tf2 \
  ros-humble-tf2-geometry-msgs \
  ros-humble-tf2-ros \
  ros-humble-rosbag2 \
  ros-humble-rviz2 \
  libpcl-dev \
  libeigen3-dev \
  libomp-dev

1.2 Livox Support

Livox datasets such as MCD Mid-70 require livox_ros_driver2 because the LiDAR input uses livox_ros_driver2/msg/CustomMsg.

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/Livox-SDK/livox_ros_driver2.git
cd livox_ros_driver2
./build.sh humble
source ~/ros2_ws/install/setup.bash

If livox_ros_driver2 is not found when building Hybrid-VoxelMap, the package can still build, but Livox CustomMsg input will be disabled.

2. Build

Create a ROS 2 workspace and build with colcon:

mkdir -p ~/slam_ws/src
cd ~/slam_ws/src
git clone https://github.com/haiyang2022/Hybrid-VoxelMap.git

cd ~/slam_ws
source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

The build enables OpenMP residual matching automatically. On high-core CPUs, the default thread count is capped conservatively; it can be overridden with:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DHVM_OMP_NUM_THREADS=8

3. Input Format

The odometry node is:

ros2 run hybrid_voxel_map voxel_mapping_odom

It subscribes to:

LiDAR topic configured by common.lid_topic
IMU topic configured by common.imu_topic when imu.imu_en=true

For semantic mode, Hybrid-VoxelMap expects the LiDAR PointCloud2 message to contain a semantic field:

0: unknown / unused
1: planar semantic region
2: non-planar Gaussian semantic region
3: moving object / ignored object region

If no semantic field is present, the system falls back to Gaussian-only mapping.

Any semantic segmentation method can be connected as long as it provides one label for each input LiDAR point, in the same point order as the input cloud. There are two recommended integration paths:

Direct output: publish a sensor_msgs/msg/PointCloud2 that preserves the original point fields and adds semantic as UINT32.
Adapter output: publish per-point labels on a separate topic, then use generic_semantic_field_bridge.py to add the Hybrid-VoxelMap semantic field.

The generic adapter supports:

sensor_msgs/msg/PointCloud2 label output with a configurable label field such as label, pred, or semantic.
std_msgs/msg/UInt32MultiArray / std_msgs/msg/Int32MultiArray label output when labels are published in the same frame order as the raw clouds.
Dataset label IDs mapped to Hybrid-VoxelMap categories through --plane-labels, --object-labels, and --ignore-labels.
Already-remapped Hybrid-VoxelMap labels through --input-label-space hybrid.

4. Run with ROS 2 Bags

The examples below use converted ROS 2 bags. Replace /path/to/... with your bag path.

4.1 KITTI 08

Dataset bag:

kitti08_raw_pointcloud2_ros2
topic: /velodyne_points_raw
type:  sensor_msgs/msg/PointCloud2
rate:  10 Hz

KITTI does not provide IMU in the odometry benchmark. In this ROS 2 version, imu.imu_en=false is used and the front end falls back to a LiDAR constant-velocity prediction and deskew model. The converted bag contains a per-point time field so the fallback deskew can be used consistently.

Terminal 1, start Hybrid-VoxelMap:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
source ~/slam_ws/install/setup.bash

mkdir -p ~/hvm_results

ros2 run hybrid_voxel_map voxel_mapping_odom --ros-args \
  --params-file $(ros2 pkg prefix hybrid_voxel_map)/share/hybrid_voxel_map/config/kitti08.yaml \
  -p common.lid_topic:=/velodyne_points_raw \
  -p imu.imu_en:=false \
  -p imu.use_lidar_constant_velocity:=true \
  -p imu.use_lidar_constant_velocity_deskew:=true \
  -p Result.tum_result_path:=$HOME/hvm_results/kitti08_hybrid_voxel_map_tum.txt \
  -p Result.efficiency_path:=$HOME/hvm_results/kitti08_hybrid_voxel_map_efficiency.txt

Terminal 2, play the bag:

source /opt/ros/humble/setup.bash
ros2 bag play /path/to/kitti08_raw_pointcloud2_ros2 --read-ahead-queue-size 10000

4.2 MCD ntu_day_10, Livox Mid-70 + VN100 IMU

Dataset bag:

ntu_day_10_mid70_vn100_body_ros2
topics:
  /livox/lidar  livox_ros_driver2/msg/CustomMsg
  /vn100/imu    sensor_msgs/msg/Imu

This bag contains the Livox Mid-70 scan transformed into the VN100 body frame. The per-point Livox offset_time is preserved, and the original VN100 IMU stream is kept in the same bag with the original timestamps. Because the LiDAR is already in the body frame, the MCD example configuration uses identity LiDAR-IMU extrinsics.

Terminal 1, start Hybrid-VoxelMap:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
source ~/slam_ws/install/setup.bash

mkdir -p ~/hvm_results

ros2 run hybrid_voxel_map voxel_mapping_odom --ros-args \
  --params-file $(ros2 pkg prefix hybrid_voxel_map)/share/hybrid_voxel_map/config/MCD_mid70_body_pure_ndt_adapted.yaml \
  -p Result.tum_result_path:=$HOME/hvm_results/mcd_ntu_day_10_hybrid_voxel_map_tum.txt \
  -p Result.efficiency_path:=$HOME/hvm_results/mcd_ntu_day_10_hybrid_voxel_map_efficiency.txt

Terminal 2, play the bag:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
ros2 bag play /path/to/ntu_day_10_mid70_vn100_body_ros2 --read-ahead-queue-size 10000

4.3 KITTI 08 with an External Semantic Front End

In this example, an external semantic segmentation node subscribes to /velodyne_points_raw and publishes per-point labels on /semantic_labels. The generic adapter converts those labels into the Hybrid-VoxelMap semantic field and republishes /velodyne_points_semantic.

Terminal 1, start Hybrid-VoxelMap:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
source ~/slam_ws/install/setup.bash

mkdir -p ~/hvm_results

ros2 run hybrid_voxel_map voxel_mapping_odom --ros-args \
  --params-file $(ros2 pkg prefix hybrid_voxel_map)/share/hybrid_voxel_map/config/kitti08.yaml \
  -p common.lid_topic:=/velodyne_points_semantic \
  -p imu.imu_en:=false \
  -p imu.use_lidar_constant_velocity:=true \
  -p imu.use_lidar_constant_velocity_deskew:=true \
  -p Result.tum_result_path:=$HOME/hvm_results/kitti08_semantic_tum.txt \
  -p Result.efficiency_path:=$HOME/hvm_results/kitti08_semantic_efficiency.txt

Terminal 2, start your semantic segmentation method:

source /opt/ros/humble/setup.bash

# Replace this with your own segmentation command.
# Required behavior:
#   subscribe: /velodyne_points_raw
#   publish:   /semantic_labels
#   type:      sensor_msgs/msg/PointCloud2
#   field:     label, one label per input point, same point order
ros2 run your_semantic_package your_semantic_node --ros-args \
  -p input_topic:=/velodyne_points_raw \
  -p output_topic:=/semantic_labels

Terminal 3, start the generic semantic adapter:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
source ~/slam_ws/install/setup.bash

ros2 run hybrid_voxel_map generic_semantic_field_bridge.py \
  --raw-topic /velodyne_points_raw \
  --label-topic /semantic_labels \
  --output-topic /velodyne_points_semantic \
  --label-message-type pointcloud2 \
  --label-field label \
  --input-label-space dataset \
  --plane-labels 8,9,10,11,12,13,16 \
  --object-labels 0,1,2,3,4,5,6,7 \
  --sync-policy timestamp \
  --max-stamp-diff 0.02

The --plane-labels and --object-labels above assume SemanticKITTI learning IDs. If your method publishes raw SemanticKITTI IDs or already-remapped Hybrid-VoxelMap labels, change these arguments accordingly.

Terminal 4, play the KITTI bag:

source /opt/ros/humble/setup.bash
ros2 bag play /path/to/kitti08_raw_pointcloud2_ros2 --read-ahead-queue-size 10000

4.4 MCD ntu_day_10 with an External Semantic Front End

For online semantic segmentation on MCD, use the PointCloud2 version of the converted bag:

ntu_day_10_mid70_vn100_body_pointcloud2_ros2
topics:
  /livox/lidar_raw_body  sensor_msgs/msg/PointCloud2
  /vn100/imu             sensor_msgs/msg/Imu

This bag still contains only raw LiDAR and IMU data. Semantic labels are not stored in the bag; they are produced online by your semantic front end.

Terminal 1, start Hybrid-VoxelMap:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
source ~/slam_ws/install/setup.bash

mkdir -p ~/hvm_results

ros2 run hybrid_voxel_map voxel_mapping_odom --ros-args \
  --params-file $(ros2 pkg prefix hybrid_voxel_map)/share/hybrid_voxel_map/config/MCD_mid70_body_semantic_adapted.yaml \
  -p common.lid_topic:=/livox/lidar_semantic \
  -p Result.tum_result_path:=$HOME/hvm_results/mcd_ntu_day_10_semantic_tum.txt \
  -p Result.efficiency_path:=$HOME/hvm_results/mcd_ntu_day_10_semantic_efficiency.txt

Terminal 2, start your semantic segmentation method:

source /opt/ros/humble/setup.bash

# Replace this with your own segmentation command.
# Required behavior:
#   subscribe: /livox/lidar_raw_body
#   publish:   /mcd_semantic_labels
#   type:      sensor_msgs/msg/PointCloud2
#   field:     label, one label per input point, same point order
ros2 run your_semantic_package your_semantic_node --ros-args \
  -p input_topic:=/livox/lidar_raw_body \
  -p output_topic:=/mcd_semantic_labels

Terminal 3, start the generic semantic adapter:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
source ~/slam_ws/install/setup.bash

ros2 run hybrid_voxel_map generic_semantic_field_bridge.py \
  --raw-topic /livox/lidar_raw_body \
  --label-topic /mcd_semantic_labels \
  --output-topic /livox/lidar_semantic \
  --label-message-type pointcloud2 \
  --label-field label \
  --input-label-space dataset \
  --plane-labels 2,6,10,12,15,17 \
  --object-labels 1,13,23 \
  --sync-policy timestamp \
  --max-stamp-diff 0.02

The MCD label IDs above are the mapping used in our experiments. You may adjust the planar / object sets for another MCD-compatible semantic taxonomy.

Terminal 4, play the MCD PointCloud2 bag:

source /opt/ros/humble/setup.bash
[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash
ros2 bag play /path/to/ntu_day_10_mid70_vn100_body_pointcloud2_ros2 --read-ahead-queue-size 10000

5. How the Example Bags Were Converted

KITTI 08

The KITTI bag was generated from:

dataset/sequences/08/velodyne/*.bin
dataset/sequences/08/times.txt

Each .bin scan was packed into sensor_msgs/msg/PointCloud2 on /velodyne_points_raw with fields:

x, y, z, intensity, time, ring

KITTI has no IMU. The ROS 2 bag therefore contains only LiDAR frames. The odometry configuration uses the constant-velocity fallback instead of IMU propagation.

MCD ntu_day_10

The MCD bag was generated from the original Mid-70 LiDAR and VN100 IMU data. The conversion:

Rewrites Livox messages as livox_ros_driver2/msg/CustomMsg.
Transforms each Mid-70 point into the VN100 body frame using the dataset calibration.
Preserves each point's Livox offset_time for motion compensation.
Keeps /vn100/imu in the same bag with the original timestamps.

6. Notes on the ROS 2 Version

Compared with the original ROS 1 implementation, this ROS 2 version includes several practical updates:

ROS 2 Humble / ament build support.
livox_ros_driver2 support for Livox CustomMsg.
KITTI / SemanticKITTI sequence support through PointCloud2.
A constant-velocity fallback path for datasets without IMU, such as KITTI odometry.
TUM trajectory output and per-run efficiency logging.
RViz2 configuration update for ROS 2 plugin names.
OpenMP parallelization for scan-matching residual search on AGX Orin and desktop CPUs.
Optional ROS 2 semantic front-end bridges for online semantic segmentation pipelines.
Safer convergence / iteration handling.

The algorithmic interface remains the same: semantic information only changes the local map representation choice, while Gaussian-only mode is still available when no semantic field is provided.

7. Acknowledgments

This implementation is built upon VoxelMap++ and VoxelMap. We thank the authors for their contributions.

Citation

If you find this work useful in your research, please cite:

@article{HybridVoxelMap2026,
  author={Wu, Haiyang and Vosselman, George and Lehtola, Ville},
  title={Gaussian or Plane? Both: Semantic-Driven Voxel Representation for LiDAR-Inertial Odometry},
  journal={IEEE Robotics and Automation Letters},
  year={2026},
  volume={11},
  number={1},
  pages={161-168},
  doi={10.1109/LRA.2025.3632730},
}

Name		Name	Last commit message	Last commit date
RandLA-Net		RandLA-Net
config		config
include		include
launch		launch
msg		msg
pics		pics
rviz_cfg		rviz_cfg
scripts		scripts
src		src
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
package.xml		package.xml

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Hybrid-VoxelMap ROS 2

Related Paper

1. Prerequisites

1.1 ROS 2

1.2 Livox Support

2. Build

3. Input Format

4. Run with ROS 2 Bags

4.1 KITTI 08

4.2 MCD ntu_day_10, Livox Mid-70 + VN100 IMU

4.3 KITTI 08 with an External Semantic Front End

4.4 MCD ntu_day_10 with an External Semantic Front End

5. How the Example Bags Were Converted

KITTI 08

MCD ntu_day_10

6. Notes on the ROS 2 Version

7. Acknowledgments

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Hybrid-VoxelMap ROS 2

Related Paper

1. Prerequisites

1.1 ROS 2

1.2 Livox Support

2. Build

3. Input Format

4. Run with ROS 2 Bags

4.1 KITTI 08

4.2 MCD ntu_day_10, Livox Mid-70 + VN100 IMU

4.3 KITTI 08 with an External Semantic Front End

4.4 MCD ntu_day_10 with an External Semantic Front End

5. How the Example Bags Were Converted

KITTI 08

MCD ntu_day_10

6. Notes on the ROS 2 Version

7. Acknowledgments

Citation

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