Fixes erronous grid shift ordering: use [dy,dx] for cp.roll axes

.devcontainer/devcontainer.json

@@ -0,0 +1,70 @@
+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
+{
+	"name": "Demo Elevation Mapping CUPY Workspace",
+	"dockerFile": "../docker/Dockerfile.x64",
+	"context": "../",
+	"remoteUser": "ros",
+	"runArgs": [
+		"--network=host",
+		"--cap-add=SYS_PTRACE",
+		"--cap-add=SYS_NICE",
+		"--security-opt=seccomp:unconfined",
+		"--security-opt=apparmor:unconfined",
+		// "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+		"--volume=/mnt/wslg:/mnt/wslg",
+		"--ipc=host",
+		"--pid=host",
+		"--runtime=nvidia",
+		"--gpus=all",
+		"--privileged",
+		"--ulimit=rtprio=98",
+		"--ulimit=rttime=-1",
+		"--ulimit=memlock=8428281856",
+		"--name=emcupy-ros2-devcontainer"
+	],
+	"containerEnv": {
+		"DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows
+		"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+		"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+		"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
+		"LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+	},
+	"mounts": [
+	    "source=/dev,target=/dev,type=bind,consistency=cached"
+	//     "source=~/bag_files,target=/workspaces/vscode-container-workspace/bag_files,type=bind,consistency=cached"
+	],
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"remote.autoForwardPorts": false,
+				"remote.autoForwardPortsSource": "output",
+				"otherPortsAttributes": { "onAutoForward" : "ignore" }
+			},
+			"extensions": [
+				"althack.ament-task-provider",
+				"betwo.b2-catkin-tools",
+				"DotJoshJohnson.xml",
+				"ms-azuretools.vscode-docker",
+				"ms-vscode.cmake-tools",
+				"ms-python.python",
+				"ms-vscode.cpptools",
+				"redhat.vscode-yaml",
+				"smilerobotics.urdf",
+				"streetsidesoftware.code-spell-checker",
+				"twxs.cmake",
+				"yzhang.markdown-all-in-one",
+				"zachflower.uncrustify",
+				"mhutchie.git-graph",
+				"eamodio.gitlens",
+				"ms-vscode.cpptools-extension-pack",
+				"usernamehw.errorlens",
+				"ms-iot.vscode-ros",
+				"alefragnani.Bookmarks",
+				"ms-vscode.live-server"
+
+			]
+		}
+	},
+	"workspaceMount": "source=${localWorkspaceFolder}/,target=/home/ros/workspace/src/elevation_mapping_cupy/,type=bind",
+	"workspaceFolder": "/home/ros/workspace/src/elevation_mapping_cupy/"
+}

.github/workflows/documentation.yml

@@ -0,0 +1,23 @@
+name: Docs
+on: [ push, pull_request, workflow_dispatch ]
+jobs:
+  docs:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+      - name: Install dependencies
+        run: |
+          pip install sphinx sphinx_rtd_theme sphinx-copybutton
+          pip install -r docs/requirements.txt
+      - name: Sphinx build
+        run: |
+          sphinx-build docs/source docs/_build
+      - name: Deploy
+        uses: peaceiris/actions-gh-pages@v3
+        if: ${{ github.event_name == 'push' }}
+        with:
+          publish_branch: gh-pages
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: docs/_build/
+          force_orphan: true

.github/workflows/python-tests.yml

@@ -0,0 +1,40 @@
+# This workflow will install Python dependencies, run tests and lint with a single version of Python
+
+name: Python testing
+
+on:
+  push:
+    branches: [ "feature/2_semantic_python", "feature/**","dev/**" ]
+#  pull_request:
+#    branches: [ "main" ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    #    runs-on: ubuntu-latest
+    runs-on: [ self-hosted, Linux, X64 ]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v3
+        with:
+          python-version: "3.8"
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest cupy-cuda11x
+          python -m pip install 'git+https://github.com/facebookresearch/detectron2.git'
+          pip install torch torchvision torchaudio
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      - name: Test elevation mapping with pytest
+        run: |
+          cd elevation_mapping_cupy/script/elevation_mapping_cupy/tests/
+          pytest
+      - name: Test semantic_sensor with pytest
+        run: |
+          cd sensor_processing/semantic_sensor/script/semantic_sensor/tests
+          pytest test_utils.py

.gitignore

@@ -1,3 +1,12 @@
 *.pyc
 *.bkp
 *.orig
+.idea*
+.pytest_cache
+.run/
+docs/build 
+_build
+.idea*
+.vscode*
+*.egg-info
+elevation_mapping_cupy/compile_commands.json