VoxelNav
Real-time 3D semantic voxel mapping for ROS2 robots.
What It Does
Takes LiDAR scans + camera feeds and turns them into labeled 3D voxel maps. Knows what is floor, wall, person, furniture, door - then feeds that to Nav2 for smart navigation.
Key Features
- O(1) voxel hashing - constant-time lookup regardless of map size
- MobileNetV3 segmentation - AI labeling of objects
- Nav2 costmap plugin - direct integration with ROS2 navigation
- 100ms latency - real-time on Jetson Nano
How to Use
# Install
cd voxelnav && colcon build
# Run
ros2 run voxelnav voxelnav_node
GitHub
https://github.com/AmSach/voxelnav
Built for ROS2 robots that need semantic maps without expensive hardware.
