# Voxel-map

Voxel-map 示例用于在运行 VSLAM 时使用深度信息和里程计 (odom) 信息生成 2D 导航地图。

图中显示了 voxel-map 的 pipeline。当从 RealSense 深度摄像头采集深度镜像并从 `vslam` 中获取姿态时，`Voxel mapping` 生成 3D 网格图。然后，将 3D 网格地图投影到地面，得到 2D 网格地图。`occupancy_img` 显示了二维地图。

![../../_images/voxel-map-pipeline.png](data:image/png;base64,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)

**图：体素图 pipeline**

有关 pipeline 流中使用的 ROS 节点和主题的信息，参见 [Voxel-map 的 pipeline 流](https://docs.qualcomm.com/doc/80-70017-265Y/topic/voxel-map_5_3_2.html#pipeline-voxelmap)。

## 用例

**前提条件：**

- 已安装 QIRP SDK 和依赖项。请参阅[编译软件](https://docs.qualcomm.com/doc/80-70017-265Y/topic/build-the-software_4_1.html#build-the-software-4-1)和[刷写和安装](https://docs.qualcomm.com/doc/80-70017-265Y/topic/flash-and-install_4_3.html#flash-and-install-4-3)。
- 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70017-254/how_to.html#use-ssh)中提到的步骤在 “Permissive” 模式下启用 `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-map
    Copy 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` 的取值范围为：[0, 232]

ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) export HOME=/home
        (ssh) source /usr/share/qirp-setup.sh
        (ssh) source /usr/bin/ros_setup.bash
        (ssh) export ROS_DOMAIN_ID=xx
        Copy 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 中，以深度模式启动 `realsense2_camera`。

(ssh) ros2 launch realsense2_camera rs_launch.py enable_sync:=true align_depth.enable:=true rgb_camera.profile:=848x480x30 depth_module.profile:=848x480x30
        Copy to clipboard
4. 在终端 2 中，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 中，运行 `depth-vslam`。

(ssh) export FASTRTPS_DEFAULT_PROFILES_FILE=/usr/share/mono-vslam/Configuration/vslam-node_profile.xml
        (ssh) cd /usr/lib/depth-vslam/
        (ssh) chmod 777 depth-vslam
        (ssh) ./depth-vslam
        Copy to clipboard
6. 在终端 4 中，运行 `voxel-map`。

(ssh) export FASTRTPS_DEFAULT_PROFILES_FILE=/usr/share/mono-vslam/Configuration/vslam-node_profile.xml
        (ssh) cd /usr/lib/voxel-map/
        (ssh) chmod 777 voxel-map
        (ssh) ./voxel-map
        Copy to clipboard
7. 在终端 5 中，运行 `<Your robot movement control node>`。

(ssh) ros2 run qti_robot_keyboard qti_keyboard
        Copy to clipboard

Note

将此步骤替换为您的键盘命令。
8. 然后可通过查看设备上的 `/usr/share/mono-vslam/vwslam/OccupancyImage.bmp` 文件来获得输出结果。
9. 要在 Ubuntu PC 上的 Rviz2 中显示结果，执行以下配置。

    1. 按照[安装 Rviz2](https://docs.qualcomm.com/doc/80-70017-265Y/topic/install-rviz2_5_1_3.html#install-rviz2-5-1-3) 来安装 Rviz2。
    2. 选择框架作为 `/odom`。
    3. 按显示类型添加 `TF`，`Grid`。
    4. 按主题添加 `/vm/occupancy_img`。

![../../_images/voxelmap-rviz2.png](data:image/png;base64,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)

表：Voxel-map 的默认配置和输出文件

        | 文件 | 默认路径 | 说明 |
        | --- | --- | --- |
        | 配置文件 | /usr/share/mono-vslam/Configuration/vm.cfg<br>            /usr/share/mono-vslam/Configuration/vslam.cfg<br>            Copy to clipboard | `.cfg` 文件配置了 voxel-map 算法的参数。 |
        | 输出路径 | /usr/share/mono-vslam/vwslam/OccupancyImage.bmp<br>            Copy 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. 在主机上的 编译 QIRP SDK 提供的 `voxel-map`。

cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd qirp-samples/nodes/navigation/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` 推送至设备。

Note

确保设备上已安装 QIRP SDK。

cd qirp-samples/nodes/navigation/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) mount -o remount rw, /usr
        (ssh) tar -zxf /opt/voxel-map.tar.gz -C /usr/
        Copy to clipboard
3. 参考[案例 1：运行开箱即用的 voxel-map](https://docs.qualcomm.com/doc/80-70017-265Y/topic/voxel-map_5_3_2.html#id-hx-d49287e1)，在设备上运行 `voxel-map`。

## Voxel-map 的 pipeline 流

> 
> 
> 表：Voxel-map pipeline 中使用的 ROS 节点
> 
> 
> | ROS 节点 | 说明 |
> | --- | --- |
> | qti-robot-amr-ctrl<br>    Copy to clipboard | 发布 `/cmd_vel` 和 `/odom` ROS 主题。 |
> | realsense2-camera<br>    Copy to clipboard | 发布 `/camera_info` 和 `/image_raw` ROS 主题。 |
> | depth-vslam<br>    Copy to clipboard | 发布 `/vslam_odom_raw`、`/robot_odom` 和 `vslam/labeled_img` ROS 主题。 |
> 
> 
> 
> 
> 表：Voxel-map pipeline 中使用的 ROS 主题
> 
> 
> | ROS 主题 | Type | 说明 |
> | --- | --- | --- |
> | vm/occupancy_img<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `voxel-map` 节点发布。 |
> | robot_odom<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
> | vslam_odom_raw<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
> | vslam/labeled_img<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
> | sensor_imu<br>    Copy to clipboard | <sensor_msgs::msg::Imu><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
> | /camera/color/image_raw<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `depth-vslam` 节点订阅。 |
> | /camera/aligned_depth_to_color/image_raw<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `depth-vslam` 节点订阅。 |
> | /camera/color/camera_info<br>    Copy to clipboard | <sensor_msgs::msg::CameraInfo><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `depth-vslam` 节点订阅。 |
> | odom<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `mono-vslam` 节点发布。 |

Last Published: Jan 24, 2025

[Previous Topic
Follow-me](https://docs.qualcomm.com/bundle/publicresource/80-70017-265Y/topics/follow-me_5_3_1.md) [Next Topic
Mono-VSLAM](https://docs.qualcomm.com/bundle/publicresource/80-70017-265Y/topics/mono-vslam_5_3_3.md)