fixed for later version of cupy

Author: JonasFrey96

elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py

@@ -100,8 +100,7 @@ def __init__(self, param: Parameter):
 
         self.semantic_map.initialize_fusion()
 
-        weight_file = subprocess.getoutput('echo "' + param.weight_file + '"')
-        param.load_weights(weight_file)
+        param.load_weights(param.weight_file)
 
         if param.use_chainer:
             self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out)
@@ -111,8 +110,7 @@ def __init__(self, param: Parameter):
 
         # Plugins
         self.plugin_manager = PluginManager(cell_n=self.cell_n)
-        plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"')
-        self.plugin_manager.load_plugin_settings(plugin_config_file)
+        self.plugin_manager.load_plugin_settings(param.plugin_config_file)
 
         self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points")
 

elevation_mapping_cupy/elevation_mapping_cupy/semantic_map.py

@@ -41,7 +41,7 @@ def __init__(self, param: Parameter):
         self.new_map = xp.zeros((self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type,)
         # which layers should be reset to zero at each update, per default everyone,
         # if a layer should not be reset, it is defined in compile_kernels function
-        self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8)
+        self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool_)
         self.fusion_manager = FusionManager(self.param)
 
     def clear(self):
@@ -94,7 +94,7 @@ def add_layer(self, name):
             self.new_map = cp.append(
                 self.new_map, cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), axis=0,
             )
-            self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool8))
+            self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool_))
 
     def pad_value(self, x, shift_value, idx=None, value=0.0):
         """Create a padding of the map along x,y-axis according to amount that has shifted.