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ethz-asl / voxblox-plusplus

A volumetric object-level semantic mapping framework.
https://arxiv.org/pdf/1903.00268.pdf
BSD 3-Clause "New" or "Revised" License
415 stars 91 forks source link

How to connect voxblox-plusplus with gazebo? #97

Closed Jessica-Huangq closed 3 years ago

Jessica-Huangq commented 3 years ago

Hello,thank you for the nice work. I want to run voxblox-plusplus using simulation by gazebo instead of your datasets. 

path:        asl_office_floor.bag
version:     2.0
duration:    5:07s (307s)
start:       Feb 15 2019 00:18:47.00 (1550161127.00)
end:         Feb 15 2019 00:23:54.84 (1550161434.84)
size:        6.2 GB
messages:    117296
compression: none [6125/6125 chunks]
types:       sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /ps_front/depth_registered/camera_info     1531 msgs    : sensor_msgs/CameraInfo
             /ps_front/depth_registered/image_raw       1531 msgs    : sensor_msgs/Image     
             /ps_front/rgb/camera_info                  1531 msgs    : sensor_msgs/CameraInfo
             /ps_front/rgb/image_raw                    1531 msgs    : sensor_msgs/Image     
             /ps_table/depth_registered/camera_info     1531 msgs    : sensor_msgs/CameraInfo
             /ps_table/depth_registered/image_raw       1531 msgs    : sensor_msgs/Image     
             /ps_table/rgb/camera_info                  1531 msgs    : sensor_msgs/CameraInfo
             /ps_table/rgb/image_raw                    1531 msgs    : sensor_msgs/Image     
             /tf                                      105048 msgs    : tf2_msgs/TFMessage

Looking forward to your reply. Thank you in advance~

Jessica-Huangq commented 3 years ago

I have solved this question.