NVblox fails to load map in dynamic mode

[ScheglyakStas]

I’m using NVblox in ROS Humble for robot navigation. When setting it to dynamic mode, there are several issues with saving and loading the map:

1. Mesh and freespace voxel layers are not serialized and saved by the save_map service. Calling the service produces the errors listed below (in addition to the normal output):

[nvblox_node-1] E0901 12:54:48.250876   550 serializer.cpp:126] Unrecognized layer type, can’t serialize: N6nvblox10BlockLayerINS_9MeshBlockEEE
[nvblox_node-1] E0901 12:54:48.314859   550 serializer.cpp:126] Unrecognized layer type, can’t serialize: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE

2. When trying to load the map (using the load_map service), it tries to find the freespace voxel layer, which was not saved (as mentioned above), and fails, killing the NVblox node. Here is the load_map output:

[nvblox_node-1] W0908 16:19:58.914960   552 layer_cake_impl.h:86] Request for a LayerType: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE which is not in the cake.
[nvblox_node-1] F0908 16:19:58.916170   552 layer_cake_impl.h:110] Check failed: ‘ptr’ Must be non NULL
[nvblox_node-1] *** Check failure stack trace: ***
[nvblox_node-1]     @     0x7ed0b516cb03  google::LogMessage::Fail()
[nvblox_node-1]     @     0x7ed0b51749d1  google::LogMessage::SendToLog()
[nvblox_node-1]     @     0x7ed0b516c7c2  google::LogMessage::Flush()
[nvblox_node-1]     @     0x7ed0b516e78f  google::LogMessageFatal::~LogMessageFatal()
[nvblox_node-1]     @     0x7ed09f7324b6  nvblox::LayerCake::get<>()
[nvblox_node-1]     @     0x7ed09f722322  nvblox::Mapper::updateEsdfSlice()
[nvblox_node-1]     @     0x7ed09f74b3eb  nvblox::MultiMapper::updateEsdfOfMapper()
[nvblox_node-1]     @     0x7ed09f74b970  nvblox::MultiMapper::updateEsdf()
[nvblox_node-1]     @     0x7ed0b2cbc3c4  nvblox::NvbloxNode::processEsdf()
[nvblox_node-1]     @     0x7ed0b2cafa47  nvblox::NvbloxNode::tick()
[nvblox_node-1]     @     0x7ed0b2cc1176  rclcpp::GenericTimer<>::execute_callback()
[nvblox_node-1]     @     0x7ed09f4f0301  rclcpp::Executor::execute_any_executable()
[nvblox_node-1]     @     0x7ed09f4f76ea  rclcpp::executors::MultiThreadedExecutor::run()
[nvblox_node-1]     @     0x7ed09eeb0253  (unknown)
[nvblox_node-1]     @     0x7ed09ec3fac3  (unknown)
[nvblox_node-1]     @     0x7ed09ecd1850  (unknown)
dev@STAS-NOTEBOOK:/workspace$ [ERROR] [nvblox_node-1]: process has died [pid 65, exit code -6, cmd ‘/workspace/install/nvblox_ros/lib/nvblox_ros/nvblox_node --ros-args -r __node:=nvblox_node -r __ns:=/spectra --params-file /workspace/install/aivot_robot_spectra/share/aivot_robot_spectra/config/nvblox_base.yaml --params-file /tmp/launch_params_qjtd3s4c --params-file /tmp/launch_params_erep3gss --params-file /tmp/launch_params_efwcxr8c -r /tf:=tf -r /tf_static:=tf_static -r camera_0/depth/image:=camnav/depth/depth_registered -r camera_0/depth/camera_info:=camnav/zed/depth/camera_info -r camera_0/color/image:=camnav/left/image_rect_color -r camera_0/color/camera_info:=camnav/left/camera_info -r /tf:=tf -r /tf_static:=tf_static’].

How can I fix this?