# Voxel-map

Source: [https://docs.qualcomm.com/doc/80-65220-2Y/topic/voxel-map_5_3_2.html](https://docs.qualcomm.com/doc/80-65220-2Y/topic/voxel-map_5_3_2.html)

Voxel-map 示例用于在运行 vslam 时使用深度信息和 odom 信息生成 2D 导航地图。

图中显示了 voxel-map 的 pipeline，蓝色表示 ros 节点，灰色表示主题，天蓝色表示关键链接。当从 RealSense 深度摄像头捕获深度图像并从 vslam 获取姿态时，将生成 3D 点云。然后当 3D 点云命中体素时，将选择命中的体素，确定自由体素并生成 3D 地图。之后，通过点云提取将 3D 地图分为空闲点云和占用点云。最后，通过 3D 点投影和 2D 地图融合处理将其转换为 2D 地图。`occupancy_img` 可以显示 2D 地图。

Figure : Voxel-map pipeline

![](data:image/png;base64,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有关 pipeline 流程中使用的 ROS 节点和主题的信息，参见 [Voxel-map 的 pipeline 流程](https://docs.qualcomm.com/doc/80-65220-2Y/topic/voxel-map_5_3_2.html#ID-concept-d32488e6020__section_smc_jqz_vbc)。

## 用例

**前提条件：**

- QIRP SDK 和依赖项已安装，参见[编译软件](https://docs.qualcomm.com/doc/80-65220-2Y/topic/build-the-software_4_1.html)和[刷写和安装](https://docs.qualcomm.com/doc/80-65220-2Y/topic/flash-and-install_4_3.html)。
- 已在“Permissive”模式下按照 [如何使用 SSH](https://docs.qualcomm.com/bundle/publicresource/topics/80-70014-254/how_to.html#how-to-ssh-) 中介绍的步骤启用 `SSH`。
- RealSense D455 摄像头已部署。

**用例 1：运行开箱即用的 voxel-map**

**步骤：**

该示例遵循以下节点序列。

    realsense2-camera in depth mode
    qti-robot-amr-ctrl  
    depth-vslam
    qti-robot-keyboard
    voxel-mapCopy to clipboard

1. 连接 RealSense D455 摄像头并启动机器人。
2. 启动五个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。
    `ROS_DOMAIN_ID` 的取值范围：[0, 232]

        ssh root@[ip-addr]
        (ssh) export HOME=/opt
        (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
        (ssh) source /usr/bin/ros_setup.bash
        (ssh) export ROS_DOMAIN_ID=xxCopy to clipboard

Note: 在接下来的步骤 3 到 7 中，每一步都在此步骤中部署的单独终端窗口中运行。
3. 在终端 1，以深度模式启动 `realsense2_camera`。

        (ssh) setenforce 0
        (ssh) ros2 launch realsense2_camera rs_launch.py enable_sync:=true align_depth.enable:=true rgb_camera.profile:=848x480x30 depth_module.profile:=848x480x30Copy to clipboard
4. 在终端 2，启动 `qti_robot_amr_ctrl`。

        (ssh) ros2 launch qti_robot_amr_ctrl qti_robot_amr_ctrl.launch.py
        Copy to clipboard

Note: 将此步骤替换为您的机器人启动命令。
5. 在终端 3，运行 `depth-vslam`。

        (ssh) export FASTRTPS_DEFAULT_PROFILES_FILE=/opt/qcom/qirp-sdk/data/misc/vwslam/Configuration/vslam-node_profile.xml
        (ssh) cd /opt/qcom/qirp-sdk/usr/lib/depth-vslam/
        (ssh) chmod 777 depth-vslam
        (ssh) ./depth-vslam
        Copy to clipboard
6. 在终端 4，运行 `voxel-map`。

        (ssh) export FASTRTPS_DEFAULT_PROFILES_FILE=/opt/qcom/qirp-sdk/data/misc/vwslam/Configuration/vslam-node_profile.xml
        (ssh) cd /opt/qcom/qirp-sdk/usr/lib/voxel-map/
        (ssh) chmod 777 voxel-map
        (ssh) ./voxel-map
        Copy to clipboard
7. 在终端 5，运行 `<Your robot movement control node>`。

        (ssh) ros2 run qti_robot_keyboard qti_keyboardCopy to clipboard

Note: 将此步骤替换为您的键盘命令。
8. 然后可通过查看文件 `/opt/qcom/qirf-sdk/data/vwslam/OccupancyImage.bmp` 在您的设备上来获得输出结果。
9. 执行以下配置以在 Ubuntu PC 上的 Rviz2 中显示结果。
    1. 按照[安装 Rviz2](https://docs.qualcomm.com/doc/80-65220-2Y/topic/install-rviz2_5_1_3.html) 的说明安装 Rviz2。
    2. 选择 `/odom` 帧。
    3. 按照显示类型添加 `TF`、`Grid`。
    4. 按主题添加 `/vm/occupancy_img`。
![](data:image/png;base64,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)

Table : Voxel-map 的默认配置和输出文件

    | 文件 | 默认路径 | 说明 |
    | --- | --- | --- |
    | 配置文件 | /opt/qcom/qirf-sdk/data/misc/vwslam/Configuration/vm.cfg<br>        /opt/qcom/qirf-sdk/data/misc/vwslam/Configuration/vslam.cfgCopy to clipboard | `.cfg` 文件配置 voxel-map 算法的参数。 |
    | 输出路径 | /opt/qcom/qirf-sdk/data/vwslam/OccupancyImage.bmpCopy to clipboard | `.bmp` 文件是一张 2D 网格地图。 |

**用例 2：编译并运行 voxel-map**

**步骤：**

1. 在主机上编译由 QIRP SDK 提供的 `voxel-map`。

        cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd sample-code/qirp_nodes/navigation_nodes/vslam/voxel-map
        export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
        export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `voxel-map` 推送到设备。 
Note: 确保设备上已安装 QIRP SDK。

        cd sample-code/qirp_nodes/navigation_nodes/vslam/voxel-map/install/voxel-map
        tar czvf voxel-map.tar.gz lib share
        scp voxel-map.tar.gz root@[ip-addr]:/opt/
        ssh root@[ip-addr]
        (ssh) tar -zxf /opt/voxel-map.tar.gz -C /opt/qcom/qirp-sdk/usr/
        Copy to clipboard
3. 在设备上运行 `voxel-map`，参考[用例 1：运行开箱即用的 voxel-map](https://docs.qualcomm.com/doc/80-65220-2Y/topic/voxel-map_5_3_2.html#ID-concept-d32488e6020__ID-Hx-d49287e1)。

## Voxel-map 的 pipeline 流程

Table : Voxel-map pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| qti-robot-amr-ctrlCopy to clipboard | 发布 `/cmd_vel` 和 `/odom` 的 ROS 主题。 |
| realsense2-cameraCopy to clipboard | 发布 `/camera_info` 和 `/image_raw` 的 ROS 主题。 |
| depth-vslamCopy to clipboard | 发布 `/vslam_odom_raw`、`/robot_odom` 和 `vslam/labeled_img` 的 ROS 主题。 |

Table : Voxel-map pipeline 中使用的 ROS 主题

| ROS 主题 | 类型 | 说明 |
| --- | --- | --- |
| vm/occupancy_imgCopy to clipboard | <sensor_msgs::msg::Image>Copy to clipboard | 由 `voxel-map` 节点发布。 |
| robot_odomCopy to clipboard | <nav_msgs::msg::Odometry>Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| vslam_odom_rawCopy to clipboard | <nav_msgs::msg::Odometry>Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| vslam/labeled_imgCopy to clipboard | <sensor_msgs::msg::Image>Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| sensor_imuCopy to clipboard | <sensor_msgs::msg::Imu>Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| /camera/color/image_rawCopy to clipboard | <sensor_msgs::msg::Image>Copy to clipboard | 由 `realsense2-camera` 节点发布，并由 `depth-vslam` 节点订阅。 |
| /camera/aligned_depth_to_color/image_rawCopy to clipboard | <sensor_msgs::msg::Image>Copy to clipboard | 由 `realsense2-camera` 节点发布，并由 `depth-vslam` 节点订阅。 |
| /camera/color/camera_infoCopy to clipboard | <sensor_msgs::msg::CameraInfo>Copy to clipboard | 由 `realsense2-camera` 节点发布，并由 `depth-vslam` 节点订阅。 |
| odomCopy to clipboard | <nav_msgs::msg::Odometry>Copy to clipboard | 由 `mono-vslam` 节点发布。 |

**Parent Topic:** [专有示例](https://docs.qualcomm.com/doc/80-65220-2Y/topic/proprietary-samples_5_3.html)

Last Published: Aug 09, 2024

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