This is a slighly modified version of the original Voxblox repository to make it work with Ros Noetic on Ubuntu 20.04. I have not tested it on other systems so I am not sure whether it would work there.
To get more information on Voxblox, please refer to the original Voxblox repo
- All voxblox documentation can be found on the original readthedocs page
All the actual installation instructions can be found in the original documentation as well, this just tells how to run it with RRC setup
If you don't have a catkin workspace yet, set it up as follows:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
Compile
cd ~/catkin_ws/src/
git clone https://github.com/fine-man/voxblox_ros.git
catkin build voxblox_ros
There is an associated launch file for RRC hardware lab rosbag under voxblox_ros/launch, just download the RRC rosbag and edit the path to the bagfile in rrc_dataset.launch, and they simply:
roslaunch voxblox_ros rrc_dataset.launch
A video showing sample output from voxblox on RRC can be seen here. The rosbag was recorded using realsense D455 kept on a P3DX mobile robot.
