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Merge PR #110 (ROS 2 Humble Python and C++ Support) while preserving mole-specific fixes
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‎.devcontainer/devcontainer.json‎

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// See https://aka.ms/vscode-remote/devcontainer.json for format details.
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{
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"name": "Demo Elevation Mapping CUPY Workspace",
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"dockerFile": "../docker/Dockerfile.x64",
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"context": "../",
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"remoteUser": "ros",
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",
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"--cap-add=SYS_NICE",
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"--security-opt=seccomp:unconfined",
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"--security-opt=apparmor:unconfined",
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// "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
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"--volume=/mnt/wslg:/mnt/wslg",
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"--ipc=host",
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"--pid=host",
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"--runtime=nvidia",
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"--gpus=all",
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"--privileged",
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"--ulimit=rtprio=98",
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"--ulimit=rttime=-1",
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"--ulimit=memlock=8428281856",
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"--name=emcupy-ros2-devcontainer"
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],
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows
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"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
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"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
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"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
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"LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
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},
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"mounts": [
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"source=/dev,target=/dev,type=bind,consistency=cached"
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// "source=~/bag_files,target=/workspaces/vscode-container-workspace/bag_files,type=bind,consistency=cached"
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],
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"customizations": {
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"vscode": {
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"settings": {
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"remote.autoForwardPorts": false,
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"remote.autoForwardPortsSource": "output",
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"otherPortsAttributes": { "onAutoForward" : "ignore" }
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},
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"extensions": [
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"althack.ament-task-provider",
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"betwo.b2-catkin-tools",
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"DotJoshJohnson.xml",
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"ms-azuretools.vscode-docker",
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"ms-vscode.cmake-tools",
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"ms-python.python",
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"ms-vscode.cpptools",
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"redhat.vscode-yaml",
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"smilerobotics.urdf",
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"streetsidesoftware.code-spell-checker",
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"twxs.cmake",
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"yzhang.markdown-all-in-one",
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"zachflower.uncrustify",
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"mhutchie.git-graph",
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"eamodio.gitlens",
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"ms-vscode.cpptools-extension-pack",
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"usernamehw.errorlens",
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"ms-iot.vscode-ros",
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"alefragnani.Bookmarks",
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"ms-vscode.live-server"
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]
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}
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},
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"workspaceMount": "source=${localWorkspaceFolder}/,target=/home/ros/workspace/src/elevation_mapping_cupy/,type=bind",
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"workspaceFolder": "/home/ros/workspace/src/elevation_mapping_cupy/"
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}

‎README.md‎

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# Elevation Mapping cupy
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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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- **C++ Node**: *Functional*
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- **Python Node**: *Functional*
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- **Docker & VS Code Devcontainer**: *Provided*
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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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## Installation
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A docker file, installation and build scripts, and a VS Code Dev Container have all been provided to ease integration and development.
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This has been tested with Ubuntu 22.04, ROS 2 Humble, Zenoh RMW, CUDA 12.1, and PyTorch 2.6.0.
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Some dependency issues with numpy, transforms3d, scipy, and ros2_numpy arose during setup so if versions of any of these packages are changed you may run into issues.
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The package.xml has been updated to ensure most dependencies are automatically installed via rosdep and some extra rosdep entries are provided to ensure proper versioning.
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This is not possible for some packages, e.g. pytorch, due to need for providing an --extra-index-url during installation.
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Therefore, this requirement is satsified inside of the docker build.
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To test out this package with the turtlebot3 Gazebo (classic) simulation you will need to install:
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- VS Code
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- Docker
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- NVIDIA Container Toolkit
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- NVIDIA CUDA Toolkit
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### Visual Studio Code
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```bash
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sudo snap install --classic code
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```
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### Docker Installation
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```bash
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# Add Docker's official GPG key
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sudo apt-get update
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sudo apt-get install ca-certificates curl gnupg -y
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sudo install -m 0755 -d /etc/apt/keyrings
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curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
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sudo chmod a+r /etc/apt/keyrings/docker.gpg
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# Add Docker repository
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
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sudo apt-get update
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# Install Docker
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sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y
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```
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### NVIDIA Container Toolkit Installation
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```bash
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# Configure the repository
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curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
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curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
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# Update and install
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sudo apt-get update
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sudo apt-get install -y nvidia-container-toolkit
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# Configure Docker for NVIDIA
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sudo nvidia-ctk runtime configure --runtime=docker
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sudo systemctl restart docker
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# Change Docker root folder
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cd
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mkdir docker
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sudo tee /etc/docker/daemon.json > /dev/null <<EOT
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{
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"data-root": "$HOME/docker",
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"runtimes": {
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"nvidia": {
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"args": [],
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"path": "nvidia-container-runtime"
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}
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}
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}
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EOT
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```
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### NVIDIA CUDA-Toolkit install
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Use the following link for install install instructions:
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https://developer.nvidia.com/cuda-12-1-0-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_local
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### Docker Configuration and Workspace Cloning
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```bash
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sudo usermod -aG docker ${USER}
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# Use gituser.sh for Git credential setup
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```
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### Restart Your Computer
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- After completing the setup and configuration steps, it is necessary to restart your computer to ensure that all changes take effect.
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---------------------------------------------------------
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### Run the Container
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#### Clone the Elevation Mapping CUPY Repository
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```bash
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cd /home/<USERNAME>/
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git clone -b ros2_humble https://github.com/jwag/elevation_mapping_cupy.git
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```
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#### Building the Docker Workspace Container
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- Open the folder with VS Code
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- Select **"Dev Containers: Reopen in container"** in the bottom left from the blue button which will build the docker image.
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- Setup the workspace
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```bash
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./docker/setup.sh
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```
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- Build the workspace
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```bash
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./docker/build.sh
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#### Run The Turtlebot3 Demo
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The docker should set the environmental variable `TURTLEBOT3_MODEL=waffle_realsense_depth` to select the correct version of the turtlebot to simulate.
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In the first terminal start the zenoh router:
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```bash
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ros2 run rmw_zenoh_cpp rmw_zenohd
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```
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In a second terminal launch the turtlebot3 in Gazebo with the following command:
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```bash
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ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
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```
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In a third terminal launch the elevation mapping node with the configs for the turtle. Set use_python_node to true to override the default use of the cpp node if you wish:
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```bash
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ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py use_python_node:=false
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```
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In a fourth terminal run the turtlebot3 teleop node if you want to drive the turtlebot around using the keyboard:
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```bash
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ros2 run turtlebot3_teleop teleop_keyboard
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```
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---
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# Elevation Mapping cupy (*Instructions Not Updated for ROS2*)
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![python tests](https://github.com/leggedrobotics/elevation_mapping_cupy/actions/workflows/python-tests.yml/badge.svg)
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