How to properly install nvblox and use it with PX4 + Gazebo + ROS 2 Humble?(PLS HELP!!!) #89
Description
Hello! (I’ll start by saying that I’m a beginner!)
I’m setting up a drone simulation in Gazebo + PX4 (1.15.4) + ROS 2 Humble. I want to connect NVBlox for 3D map reconstruction and further planning.
I have a few questions about installation and launch.
For installation, I tried the following set of commands:
sudo apt-get install python3-pip libglib2.0-0 libgl1 # Open3D dependencies
pip3 install https://github.com/nvidia-isaac/nvblox/releases/download/v0.0.8/nvblox_torch-0.0.8rc5+cu12ubuntu22-863-py3-none-linux_x86_64.whl
Are these commands sufficient to install nvblox?
Another question: how do I correctly run 3D reconstruction in conjunction with Gazebo?
I am launching a drone with a depth camera (make px4_sitl gz_x500_depth), and I want NVBlox to build 3D reconstructions, but I don’t quite understand how it works.
The NVBlox documentation mentions Trajectory Optimization. I don’t quite understand how it works and how to run “Trajectory Optimization”.
I would appreciate any tips on how to:
Install NVBlox (apt / pip / build from source),
Run 3D reconstruction in PX4+Gazebo simulation,
Understand how Trajectory Optimization works and how to enable it.
I would be very grateful for any help or advice. Thank you in advance!