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Merge remote-tracking branch 'amilearning/orin' into fix_commits
2 parents b6465a3 + 0f617f5 commit d3feb1b

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‎README.md‎

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## ROS2 Elevation Mapping Cupy
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**Status**: Under Development 🚧
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### Features
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- **Point cloud-based map update**: *Functional*
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- **Image-based map update**: *Ongoing development*
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### Dependencies -
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- **ROS 2 Humble**
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- **CUDA 12.4**
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- **PyTorch 2.4.0**
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![Elevation Map in ROS 2 Humble with Gazebo ](https://github.com/user-attachments/assets/0dd9ebbe-a90d-486f-9871-81921308fab9)
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# Elevation Mapping cupy
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![python tests](https://github.com/leggedrobotics/elevation_mapping_cupy/actions/workflows/python-tests.yml/badge.svg)

‎elevation_map_msgs/CMakeLists.txt‎

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find_package(ament_cmake REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED) # Added dependency
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find_package(std_msgs REQUIRED) # Added std_msgs
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set(msg_files
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"msg/Statistics.msg"
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rosidl_generate_interfaces(${PROJECT_NAME}
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${msg_files}
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${srv_files}
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DEPENDENCIES geometry_msgs std_msgs # Combined dependencies
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DEPENDENCIES geometry_msgs std_msgs std_msgs # Added std_msgs
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)
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ament_export_dependencies(rosidl_default_runtime)
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ament_package()
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# cmake_minimum_required(VERSION 3.8)
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# project(elevation_map_msgs)
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# if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# add_compile_options(-Wall -Wextra -Wpedantic)
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# endif()
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# # find dependencies
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# find_package(ament_cmake REQUIRED)
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# find_package(rosidl_default_generators REQUIRED)
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# find_package(builtin_interfaces REQUIRED)
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# find_package(std_msgs REQUIRED)
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# find_package(geometry_msgs REQUIRED)
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# find_package(action_msgs REQUIRED)
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# rosidl_generate_interfaces(${PROJECT_NAME}
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# "msg/Statistics.msg"
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# "msg/ChannelInfo.msg"
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# "srv/CheckSafety.srv"
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# "srv/Initialize.srv"
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# DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs
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# )
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# ament_export_dependencies(rosidl_default_runtime)
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# ament_package()
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‎elevation_map_msgs/package.xml‎

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<author email="[email protected]">Takahiro Miki</author>
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<license>MIT</license>
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<!-- Build and Runtime Dependencies -->
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<build_depend>std_msgs</build_depend> <!-- Added dependency -->
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<build_depend>std_msgs</build_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<exec_depend>std_msgs</exec_depend> <!-- Added dependency -->
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<exec_depend>std_msgs</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<!-- Testing Dependencies -->
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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<build_type>ament_cmake</build_type>
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<member_of_group>rosidl_interface_packages</member_of_group>
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</export>
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</package>

‎elevation_mapping_cupy/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(elevation_mapping_cupy)
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# # Enable C++11 (or higher if needed for ROS 2 and pybind11)
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# set(CMAKE_CXX_STANDARD 11)
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# set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Compiler options
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Additional dependencies
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# find_package(Python COMPONENTS Interpreter Development)
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find_package(PythonInterp 3 REQUIRED)
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find_package(pybind11 CONFIG REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(OpenCV REQUIRED)
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# Find pybind11
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message([MAIN] "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}")
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message([MAIN] "pybind11_INCLUDE_DIRS = ${pybind11_INCLUDE_DIRS}")
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message([MAIN] "pybind11_LIBRARIES = ${pybind11_LIBRARIES}")
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# Find ROS 2 dependencies
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find_package(message_filters REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(grid_map_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(elevation_map_msgs REQUIRED)
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find_package(grid_map_ros REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(pcl_ros REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(python_cmake_module REQUIRED)
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find_package(point_cloud_transport REQUIRED)
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_ament_cmake_python_register_environment_hook()
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ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/${PROJECT_NAME})
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# List dependencies for ament_target_dependencies
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set(dependencies
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rclcpp
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rclpy
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std_msgs
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std_srvs
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builtin_interfaces
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geometry_msgs
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sensor_msgs
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elevation_map_msgs
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grid_map_msgs
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grid_map_ros
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image_transport
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pcl_ros
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message_filters
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tf2_eigen
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point_cloud_transport
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)
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# Include directories
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include_directories(
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include
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${PYTHON_INCLUDE_DIRS}
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${Eigen3_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${pybind11_INCLUDE_DIRS}
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${elevation_map_msgs_INCLUDE_DIRS}
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)
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# Declare C++ library
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add_library(elevation_mapping_ros
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src/elevation_mapping_wrapper.cpp
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src/elevation_mapping_ros.cpp
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)
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# Link the library with necessary dependencies
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target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${OpenCV_LIBRARIES} pybind11::embed)
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ament_target_dependencies(elevation_mapping_ros ${dependencies})
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# Declare C++ executable
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add_executable(elevation_mapping_node src/elevation_mapping_node.cpp)
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# Link the executable with the library and dependencies
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target_link_libraries(elevation_mapping_node elevation_mapping_ros ${OpenCV_LIBRARIES} pybind11::embed)
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ament_target_dependencies(elevation_mapping_node ${dependencies})
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# Install targets
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install(
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TARGETS elevation_mapping_node
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DESTINATION lib/${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(TARGETS
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elevation_mapping_node
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DESTINATION lib/${PROJECT_NAME}
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)
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install(
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TARGETS elevation_mapping_ros
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DESTINATION lib/${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(PROGRAMS
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DESTINATION lib/${PROJECT_NAME}
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)
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# Install launch and config directories
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install(
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DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME}
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)
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_ament_cmake_python_register_environment_hook()
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# ament_python_install_package(script/${PROJECT_NAME})
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# ament_python_install_package(script/${PROJECT_NAME})
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# Ament package declaration
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ament_package()

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