Tutorial

Golden-path demo (synthetic TF + synthetic PointCloud2)

The demo starts:

  • a deterministic TF publisher (map -> base_link moving in a square)

  • a deterministic depth-like pointcloud publisher on /camera/depth/points

  • the elevation mapping node

Run it (headless):

ros2 launch elevation_mapping_cupy synthetic_depth_demo.launch.py launch_rviz:=false

Expected ROS interfaces:

  • TF: map -> base_link

  • PointCloud2: /camera/depth/points

  • GridMap: /elevation_mapping_node/elevation_map

Tip: if you run ros2 topic echo from a second container, set FASTDDS_BUILTIN_TRANSPORTS=UDPv4 to avoid FastDDS shared-memory issues between containers.

Robot Config Launch (e.g. Menzi)

The generic launch file loads config/core/core_param.yaml and a setup YAML from config/setups/<robot_config>:

ros2 launch elevation_mapping_cupy elevation_mapping.launch.py robot_config:=menzi/base.yaml