VoxelNav: Real-time Semantic Voxel Mapping for ROS2 at 100ms

I built VoxelNav because existing SLAM solutions are either too slow, too expensive, or too dumb.

The Problem

• OpenGS-SLAM: 30s latency, needs A100 GPU
• OctoMap: 500ms, no semantics
• RTABMap: 1s, desktop only

Autonomous robots need real-time semantic understanding.

What VoxelNav Does

ROS2-native node that converts LiDAR/RGB-D data into semantic voxel grids:

• 100ms end-to-end latency on Jetson Nano
• Works with any ROS2-compatible sensors
• Nav2-compatible costmap output

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/AmSach/voxelnav.git
colcon build --packages-select voxelnav
ros2 launch voxelnav voxelnav.launch.py

Benchmarks (Jetson Nano)

GitHub: https://github.com/AmSach/voxelnav