I’m using the ZED Mini camera on Jetson NX platform with ROS2 for a drone/quadcopter related project.
For this project we need the mapping functionality, which is used for the obstacle avoidance. However, the problem is that the mapping data is constantly growing, which makes the whole obstacle avoidance pipeline slower as the time goes.
What we ideally would like to have is the ability to compute and maintain the spatial mapping data only in some radius/bound box around the current drone location, to keep both the memory and computation load more or less constant during the flight.
Searching through SDK and ROS2 wrapper documentation we haven’t found any way to configure mapping in such a way. Is there a way to do this? If not, are there plans to implement such a feature?
Thank you in advance,