added everything that was already present

Author: gerni17

README.md

@@ -27,210 +27,3 @@ terrain can be efficiently generated.
 }
 ```
 
-
-## Usage
-
-### Build
-
-```bash
-catkin build elevation_mapping_cupy
-catkin build convex_plane_decomposition_ros
-```
-
-#### Errors
-
-If you get error such as
-
-```
-Make Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
-  Could NOT find PythonInterp: Found unsuitable version "2.7.18", but
-  required is at least "3" (found /usr/bin/python)
-```
-
-Build with option.
-
-```bash
-catkin build elevation_mapping_cupy -DPYTHON_EXECUTABLE=$(which python3)
-```
-
-### Run
-
-Basic usage.
-
-```bash
-roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch
-```
-
-For the plane segmentation node
-
-```bash
-roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch
-```
-
-#### Errors
-If you build with the install flag under ros melodic, you might get issues with the modules not found:
-
-```bash
-terminate called after throwing an instance of 'pybind11::error_already_set'
-  what():  ModuleNotFoundError: No module named 'elevation_mapping_cupy'
-```
-This is because python3 modules are installed into a different location.
-
-This can be fixed by including also the python3 modules location in the `PYTHONPATH` by adding following line into the launch file:
-
-```xml
-<env name="PYTHONPATH" value="<path_to_your_install>/lib/python3/dist-packages:$(env PYTHONPATH)" />
-```
-
-### Run TurtleBot example
-
-First, install turtlebot simulation.
-
-```bash
-sudo apt install ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop
-```
-
-Then, you can run the examples. For the basic version:
-
-```bash
-export TURTLEBOT3_MODEL=waffle
-roslaunch elevation_mapping_cupy turtlesim_example.launch
-```
-
-Or, for the version including plane segmentation:
-
-```bash
-catkin build convex_plane_decomposition_ros
-export TURTLEBOT3_MODEL=waffle
-roslaunch elevation_mapping_cupy turtlesim_segmentation_example.launch
-```
-
-To control the robot with a keyboard, a new terminal window needs to be opened.  
-Then run
-
-```bash
-export TURTLEBOT3_MODEL=waffle
-roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
-```
-
-Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`. To stop the robot completely, press `s`.
-
-### Subscribed Topics
-
-* topics specified in **`pointcloud_topics`** in **`elevation_mapping_cupy/config/parameters.yaml`** ([sensor_msgs/PointCloud2])
-
-  The distance measurements.
-
-* **`/tf`** ([tf/tfMessage])
-
-  The transformation tree.
-
-* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in
-  **`convex_plane_decomposition_ros/config/parameters.yaml`**
-
-### Published Topics
-
-For elevation_mapping_cupy, topics are published as set in the rosparam.  
-You can specify which layers to publish in which fps.
-
-Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`.
-
-```yaml
-publishers:
-  your_topic_name:
-    layers: [ 'list_of_layer_names', 'layer1', 'layer2' ]             # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers
-    basic_layers: [ 'list of basic layers', 'layer1' ]                # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
-    fps: 5.0                                                        # Publish rate. Use smaller value than `map_acquire_fps`.
-```
-
-Example setting in `config/parameters.yaml`.
-
-* **`elevation_map_raw`** ([grid_map_msg/GridMap])
-
-  The entire elevation map.
-
-* **`elevation_map_recordable`** ([grid_map_msg/GridMap])
-
-  The entire elevation map with slower update rate for visualization and logging.
-
-* **`elevation_map_filter`** ([grid_map_msg/GridMap])
-
-  The filtered maps using plugins.
-
-The plane segmentation node publishes the following:
-
-* **`planar_terrain`**  ([convex_plane_decomposition_msgs/PlanarTerrain])
-
-  A custom message that contains the full segmentation as a map together with the boundary information.
-
-* **`filtered_map`**  ([grid_map_msg/GridMap])
-
-  A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**.
-
-* **`boundaries`**  ([visualization_msgs/MarkerArray])
-
-  A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate
-  markers with the same color.
-
-* **`insets`**  ([visualization_msgs/PolygonArray])
-
-  A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward
-  shift can cause a single region to break down into multiple when narrow passages exist.
-
-# Plugins
-
-You can create your own plugin to process the elevation map and publish as a layer in GridMap message.
-
-Let's look at the example.
-
-First, create your plugin file in `elevation_mapping_cupy/script/plugins/` and save as `example.py`.
-
-```python
-import cupy as cp
-from typing import List
-from .plugin_manager import PluginBase
-
-
-class NameOfYourPlugin(PluginBase):
-    def __init__(self, add_value:float=1.0, **kwargs):
-        super().__init__()
-        self.add_value = float(add_value)
-
-    def __call__(self, elevation_map: cp.ndarray, layer_names: List[str],
-            plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray:
-        # Process maps here
-        # You can also use the other plugin's data through plugin_layers.
-        new_elevation = elevation_map[0] + self.add_value
-        return new_elevation
-```
-
-Then, add your plugin setting to `config/plugin_config.yaml`
-
-```yaml
-example:                                      # Name of your filter
-  type: "example"                             # Specify the name of your plugin (the name of your file name).
-  enable: True                                # weather to load this plugin
-  fill_nan: True                              # Fill nans to invalid cells of elevation layer.
-  is_height_layer: True                       # If this is a height layer (such as elevation) or not (such as traversability)
-  layer_name: "example_layer"                 # The layer name.
-  extra_params:                               # This params are passed to the plugin class on initialization.
-    add_value: 2.0                            # Example param
-    
-example_large:                                # You can apply same filter with different name.
-  type: "example"                             # Specify the name of your plugin (the name of your file name).
-  enable: True                                # weather to load this plugin
-  fill_nan: True                              # Fill nans to invalid cells of elevation layer.
-  is_height_layer: True                       # If this is a height layer (such as elevation) or not (such as traversability)
-  layer_name: "example_layer_large"           # The layer name.
-  extra_params:                               # This params are passed to the plugin class on initialization.
-    add_value: 100.0                          # Example param with larger value.
-```
-
-Finally, add your layer name to publishers in `config/parameters.yaml`. You can create a new topic or add to existing topics.
-
-```yaml
-  plugin_example: # Topic name
-    layers: [ 'elevation', 'example_layer', 'example_layer_large' ]
-    basic_layers: [ 'example_layer' ]
-    fps: 1.0        # The plugin is called with this fps.
-```

docs/media/cuda-installation.md

@@ -0,0 +1,30 @@
+.. _cuda_installation:
+
+TODO add this to the
+CUDA
+******************************************************************
+
+You can download CUDA10.2 from [here](https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin).  
+You can follow the instruction.
+.. code-block:: bash
+
+  wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
+  sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
+  sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
+  sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /"
+  sudo apt-get update
+  sudo apt-get -y install cuda
+
+
+cuDNN
+******************************************************************
+
+You can download specific version from [here](https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/).  
+For example, the tested version is with `libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb`.
+
+Then install them using the command below.
+.. code-block:: bash
+
+  sudo dpkg -i libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb
+  sudo dpkg -i libcudnn8-dev_8.0.0.180-1+cuda10.2_amd64.deb
+

docs/source/getting_started/cuda_installation.rst

@@ -1,9 +1,69 @@
 .. _introduction:
 
 Introduction
-==================================================
+******************************************************************
 
 
 
+Subscribed Topics
+-------------------------------------------------------------------
+* topics specified in **`pointcloud_topics`** in **`elevation_mapping_cupy/config/parameters.yaml`** ([sensor_msgs/PointCloud2])
 
+  The distance measurements.
 
+* **`/tf`** ([tf/tfMessage])
+
+  The transformation tree.
+
+* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in
+  **`convex_plane_decomposition_ros/config/parameters.yaml`**
+
+Published Topics
+-------------------------------------------------------------------
+For elevation_mapping_cupy, topics are published as set in the rosparam.
+You can specify which layers to publish in which fps.
+
+Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`.
+
+.. code-block:: yaml
+
+  publishers:
+      your_topic_name:
+        layers: [ 'list_of_layer_names', 'layer1', 'layer2' ] # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers
+        basic_layers: [ 'list of basic layers', 'layer1' ] # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
+        fps: 5.0  # Publish rate. Use smaller value than `map_acquire_fps`.
+
+
+Example setting in `config/parameters.yaml`.
+
+* **`elevation_map_raw`** ([grid_map_msg/GridMap])
+
+  The entire elevation map.
+
+* **`elevation_map_recordable`** ([grid_map_msg/GridMap])
+
+  The entire elevation map with slower update rate for visualization and logging.
+
+* **`elevation_map_filter`** ([grid_map_msg/GridMap])
+
+  The filtered maps using plugins.
+
+The plane segmentation node publishes the following:
+
+* **`planar_terrain`**  ([convex_plane_decomposition_msgs/PlanarTerrain])
+
+  A custom message that contains the full segmentation as a map together with the boundary information.
+
+* **`filtered_map`**  ([grid_map_msg/GridMap])
+
+  A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**.
+
+* **`boundaries`**  ([visualization_msgs/MarkerArray])
+
+  A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate
+  markers with the same color.
+
+* **`insets`**  ([visualization_msgs/PolygonArray])
+
+  A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward
+  shift can cause a single region to break down into multiple when narrow passages exist.