Voxblox Ground Truth

• gt_gen_plugin: Create ground truth voxblox .tsdf or .pcd or .ply(not mesh, pointcloud) maps from Gazebo worlds
• tsdf_to_pcdnormal: Generate pcl::PointCloud<pcl::PointNormal> from .tsdf

Install

• Make sure that Voxblox and Gazebo are installed, then run

cd ~/your_workspace/src
git clone https://github.com/engcang/voxblox_ground_truth

cd ~/your_workspace
catkin build voxblox_ground_truth
source devel/setup.bash

Gazebo plugin

Demo / Your own world

• In order to use the plugin, it must be loaded as part of your Gazebo world.
• To do this, add the following line to your .world file right after the <world name='default'> tag:

<plugin name="voxblox_ground_truth_plugin" filename="libvoxblox_ground_truth_plugin.so"/>

• Start the demo by running

roslaunch voxblox_ground_truth gazebo_plugin_demo.launch

• Set the desired voxel size with

rosparam set /voxblox_ground_truth/voxel_size 0.05

Then wait for Gazebo and Rviz finish loading. Once they're ready, call

rosservice call /gazebo/save_voxblox_ground_truth_to_tsdf "file_path: '$HOME/filename.tsdf'"

or

rosservice call /gazebo/save_voxblox_ground_truth_to_pcd "file_path: '$HOME/filename.pcd'"

or

rosservice call /gazebo/save_voxblox_ground_truth_to_ply "file_path: '$HOME/filename.ply'"

.tsdf to pcl::PointCloud<pcl::PointNormal>

rosparam set /voxblox_ground_truth/voxel_size 0.05 (should be same with generatead size)
rosrun tsdf_to_pcdnormal tsdf_to_pcdnormal_node
rostopic pub /load_map std_msgs/String "data: '$HOME/filename.tsdf'"