esdf_slice was not generated in RVIZ about voxblox

[ZacharyTaylor]

Hi, what does your launchfile look like, the esdf calculation and data visualization can both be fairly computationally expensive so are disabled by default.
Make sure generate_esdf and publish_slices are both set to true.

[bxc237]

@ZacharyTaylor Thank you for the reply. I have already set these two values to "true", otherwise the esdf_slice topic would not even show up in RVIZ. This is my launch file.

[bxc237]

cow_and_lady_dataset.launch.txt

[ZacharyTaylor]

Okay I was able to replicate the issue and it turns out its a bug that shows up when float(voxel_size) > double(voxel_size) and a layer slice is requested exactly between two blocks. This is the case for voxel_size = 0.05 and slice_level = 0.5 such as in the example.

I have pushed a quick fix for it, though unfortunately it creates a double layer in these instances. See #145

Also in your launchfile you might want to get rid of the line
<param name="max_integration_time_s" value="0.02"/>
as this is quite a low limit and may cause quite a few voxels to be dropped, especially for smaller voxel sizes. I put this low limit in the main launchfile while testing and forgot to remove it before merging the changes. I will remove it in my next pr

[bxc237]

Thanks I can see the esdf_slice in RVIZ now. So I'm closing this issue about displaying ESDF.....I have not dug into the code yet. What is the possible cause for the double layer?

[ZacharyTaylor]

The slice code works by displaying all voxels who are within (voxel_size / 2) of the specified height. For these settings there are voxels at a height of 0.475 and 0.525, so in requesting a slice at 0.5 you end up exactly between the two voxels and end up getting both.

[bxc237]

Thank you very much for the explanation!