Installation

CUDA & cuDNN

The tested versions are CUDA10.2, 11.6

CUDA cuDNN

Check how to install here.

Python dependencies

You will need

For traversability filter, either of

Optionally, OpenCV for inpainting filter.

Install numpy, scipy, shapely, opencv-python with the following command.

pip3 install -r requirements.txt

Cupy

cupy can be installed with specific CUDA versions. (On jetson, only “from source” i.e. pip install cupy could work) For CUDA 10.2

pip install cupy-cuda102

For CUDA 11.0

pip install cupy-cuda110

For CUDA 11.1

pip install cupy-cuda111

For CUDA 11.2

pip install cupy-cuda112

For CUDA 11.3

pip install cupy-cuda113

For CUDA 11.4

pip install cupy-cuda114

For CUDA 11.5

pip install cupy-cuda115

For CUDA 11.6

pip install cupy-cuda116

(Install CuPy from source)

pip install cupy

Traversability filter

You can choose either pytorch, or chainer to run the CNN based traversability filter. Install by following the official documents.

Pytorch uses ~2GB more GPU memory than Chainer, but runs a bit faster. Use parameter use_chainer to select which backend to use.

ROS package dependencies

sudo apt install ros-noetic-pybind11-catkin
sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs

On Jetson

CUDA CuDNN

CUDA and cuDNN can be installed via apt. It comes with nvidia-jetpack. The tested version is jetpack 4.5 with L4T 32.5.0.

Python dependencies

On jetson, you need the version for its CPU arch:

wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl
pip3 install Cython
pip3 install numpy==1.19.5 torch-1.8.0-cp36-cp36m-linux_aarch64.whl

Also, you need to install cupy with

pip3 install cupy

This builds the packages from source so it would take time.

ROS dependencies

sudo apt install ros-melodic-pybind11-catkin
sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs

Also, on jetson you need fortran (should already be installed).

sudo apt install gfortran

If the Jetson is set up with Jetpack 4.5 with ROS Melodic the following package is additionally required:

git clone git@github.com:ros/filters.git -b noetic-devel

Plane segmentation dependencies

OpenCV

sudo apt install libopencv-dev

Eigen

sudo apt install libeigen3-dev

CGAL

CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you have the third-party libaries installed on you machine:

sudo apt install libgmp-dev
sudo apt install libmpfr-dev
sudo apt install libboost-all-dev