Tutorial

This tutorial will guide you through the basic usage of the elevation mapping cupy. You will learn how to run the plane segmentation node, the sensor node, and the TurtleBot example.

If you want to use your own custom plugins, please refer to the Plugins.

Run

Basic usage.

roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch

For the plane segmentation node

roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch

For the sensor node

roslaunch semantic_sensor semantic_pointcloud.launch
roslaunch semantic_sensor semantic_image.launch

Run TurtleBot example

First, install turtlebot simulation.

sudo apt install ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop

Then, you can run the examples. For the basic version:

export TURTLEBOT3_MODEL=waffle
roslaunch elevation_mapping_cupy turtlesim_simple_example.launch

For fusing semantics into the map such as rgb from a multi modal pointcloud:

Elevation map examples 
export TURTLEBOT3_MODEL=waffle
roslaunch elevation_mapping_cupy turtlesim_semantic_pointcloud_example.launch

For fusing semantics into the map such as rgb semantics or features from an image:

export TURTLEBOT3_MODEL=waffle
roslaunch elevation_mapping_cupy turtlesim_semantic_image_example.launch

Or, for the version including plane segmentation:

catkin build convex_plane_decomposition_ros
export TURTLEBOT3_MODEL=waffle
roslaunch elevation_mapping_cupy turtlesim_plane_decomposition_example.launch

To control the robot with a keyboard, a new terminal window needs to be opened. Then run

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.

Errors

If you build with the install flag under ros melodic, you might get issues with the modules not found:

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:

<env name="PYTHONPATH" value="<path_to_your_install>/lib/python3/dist-packages:$(env PYTHONPATH)" />

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.

catkin build elevation_mapping_cupy -DPYTHON_EXECUTABLE=$(which python3)