Using Voxblox in planners that do not support ESDF about voxblox HOT 2 OPEN

Thanks for the interest in the code.
If "publish_tsdf_info" is set to true, then voxblox should output the surface pointcloud whenever the TSDF changes.

So if you are only seeing output at 10 Hz there are four possibilities

• We have a bug
• The "min_time_between_msgs_sec" parameter has been set to ~0.1. In this case just set it to 0.0 to prevent it throttling your data.
• Your input data is coming in at 10 Hz. In this case publishing faster would not add any information
• Voxblox is overloaded and dropping messages. If this is happing try decreasing the max ray length or increasing voxel size.

For getting a laser like output your best options are either the surface pointcloud or the mesh_pcl topic.
Why are you not just directly using the lidar output, is voxblox needed to denoise or downsample the data?

from voxblox.

Thank You for the reply!

Whenever I enable "publish_tsdf_info" it slows down everything quite a bit. Following your advices I have found out that the "voxel_size" was the problem.
Now, combining "voxel_size" and "max_block_distance_from_body" I get the frequency above 15 Hz.

Yes, that was the idea - to denoise and downsample data and to have a good reconstruction quality on the way.
Also, I have seen the "mesh_pcl" topic you mentioned, but when I try to find "output_mesh_as_pcl_mesh" I only find it in readme files.

from voxblox.