STVL & NPVL Available in Navigation2 (ROS2)

Next Generation ROS
,
1

Hi,

Just wanted to drop by and mention that STVL (spatio-temporal voxel layer) [1] and NPVL (nonpersistent voxel layer) [2] are now both available in ROS2 Dashing and Eloquent for use. Documentation on how to add it to the Navigation2 stack can be seen in [3].

A few folks that have already moved to ROS2 Navigation have asked for them and wanted to outwardly just mention it for future passersby that this is now available and fully-featured in ROS2.

[1] https://github.com/SteveMacenski/spatio_temporal_voxel_layer
[2] https://github.com/SteveMacenski/nonpersistent_voxel_layer
[3] https://github.com/ros-planning/navigation2/pull/1442

6 Likes
2

Didn’t you mention these in your talk at ROSCon? Should I post a link to the talk so everyone can realize how amazingly cool these tools are?

3

So cool in fact, by googling stvl it appears on my computer on the 5th page of search results (and… I wrote it… I think google knows that’s something I’m probably interested in :laughing: ). Maybe I should have picked another acronym, though I think abbreviation rights go to David Tsai. Until “STVL” I used it call it “that voxel work” because “the spatio-temporal voxel layer” doesn’t exactly roll off the tongue. STVL still a major improvement over that unnamed work in the corner.

Anyhow, yes, here’s the talk:

Thinking back on this, actually about 2/3 of the “future work” stuff is done now. It supports fully 3D lidars and a couple of companies are using that for indoor/outdoor VLP 16 navigation.

4 Likes