To install, first please install OpenVDB following these instructions: https://github.com/AcademySoftwareFoundation/openvdb
After OpenVDB is installed, clone the repo into your ROS2 workspace and re-build your workspace
colcon build <workspace_name> && source install/setup.bash
Start the ROS2 node with:
ros2 run edf_map edf_service
Query the distance and direction to the closest obstacle at a point with:
ros2 service call /edf_srv edf_srv/srv/QueryEdf "{points: [x1,y1,z1,x2,y2,z2,...,xN,yN,zN]}"
where x1,y1,z2, etc... are the query locations you are interested in. The service will return a list of distances and gradients corresponding to your input.
Query the entire distance field at a particular z1 height with:
ros2 service call /slice_edf_srv edf_srv/srv/QueryEdfSlice "{z: z1}"
Additionally the /dis_out and /grd_out topics are published to help visualise the distance field at your query points.
/dis_out is a PointCloud at your query points with intensity values set to the corresponding distances to closest obstacle.
/grd_out is a set of vectors aligned with the /dis_out PointCloud pointing in the direction of the closest obstacle.