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NVIDIA-ISAAC-ROS / isaac_ros_nvblox

NVIDIA-accelerated 3D scene reconstruction and Nav2 local costmap provider using nvblox
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Use nvblox in a non-flat environment #61

Open Parosi opened 1 year ago

Parosi commented 1 year ago

Hello,

I tested nvblox using a lidar in my Isaac Sim simulation and it works well with a flat ground floor. However, in my use case the environment is not flat since there are some slopes. I'm trying nvblox in that new condition and the slopes are seen as obstacles.

From what I read it seems that the package needs a constant value which describes the height of the ground (min_height). If this is correct the package is not usable in situations where the ground is not flat.

Could you please tell me if I understood correctly the meaning of min_height parameter? What is the meaning of the max_height parameter? Is there a way to use this package with a non flat ground floor?

Thanks in advance.

alexmillane commented 1 year ago

Hi Riccardo,

This is a limitation of the system at the moment: we generate either:

Neither is appropriate for ground navigation across non-flat ground.

We had planned for this, so the code could be modified to allow this, but the required modifications are non-trivial...

Parosi commented 1 year ago

Hi Alex,

I understand, thank you for the clarification.

Is the implementation of this feature part of the near future development plan?

alexmillane commented 1 year ago

Sadly not. Our work on nvblox is being driven by internal projects at the moment and non-flat ground is not a priority there, sadly.

shtern commented 1 year ago

Hi Riccardo,

This is a limitation of the system at the moment: we generate either:

  • a full 3D ESDF, or
  • a 2D under a flat ground assumption.

Neither is appropriate for ground navigation across non-flat ground.

We had planned for this, so the code could be modified to allow this, but the required modifications are non-trivial...

@alexmillane how can i achieve getting full 3D ESDF? Is it the occupancy grid or something other than that?

jaiveersinghNV commented 1 year ago

The ~/mesh topic published by the Isaac ROS Nvblox node will give you a 3D mesh that can be visualized in RViz.

BergerKing333 commented 8 months ago

Hi Riccardo,

This is a limitation of the system at the moment: we generate either:

* a full 3D ESDF, or

* a 2D under a flat ground assumption.

Neither is appropriate for ground navigation across non-flat ground.

We had planned for this, so the code could be modified to allow this, but the required modifications are non-trivial...

Hello, I am a member of the University of Minnesota Robotics team, and we're building a robot for the Lunabotics competition hosted by NASA. Our robot uses the isaac_ros_nvblox package, but we need support for uneven terrain, since the competition map consists of both craters and boulders. Our current plan is to take 2 esdf slices, from above and below ground and merge them, but we've been unsure of how to merge them. Do you have any advice? We really appreciate your help, Alex

Never mind, fixed it.