Installation

This repository targets:

• ROS 2 Jazzy (Ubuntu 24.04)

• NVIDIA GPU + CUDA (CuPy kernels)

The recommended setup is Docker, because it pins a known-good ROS/CUDA/Python environment.

Docker (Recommended)

Build the image:

cd <your_ros2_ws>/src/elevation_mapping_cupy
docker build -f docker/Dockerfile.x64 -t elevation_mapping_cupy:jazzy .

Build + test the packages inside a mounted workspace:

docker run --rm --gpus all --net=host \
  -v <your_ros2_ws>:/ws -w /ws elevation_mapping_cupy:jazzy bash -lc '
    set -e
    source /opt/ros/jazzy/setup.bash
    colcon build --symlink-install \
      --packages-select elevation_map_msgs elevation_mapping_cupy
    source install/setup.bash
    colcon test --packages-select elevation_mapping_cupy \
      --event-handlers console_direct+
    colcon test-result --verbose
  '

Native (Not Recommended)

Native installs are possible, but you must provide CUDA-capable Python wheels yourself (CuPy + torch) and ensure your ROS 2 Jazzy environment has the required ROS/system dependencies.