Tutorial¶
Build¶
catkin build elevation_mapping_cupy
catkin build convex_plane_decomposition_ros
Errors¶
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=$(which python3)
Run¶
Basic usage.
roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch
For the plane segmentation node
roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch
Errors¶
If you build with the install flag under ros melodic, you might get issues with the modules not found:
terminate called after throwing an instance of 'pybind11::error_already_set'
what(): ModuleNotFoundError: No module named 'elevation_mapping_cupy'
This is because python3 modules are installed into a different location.
This can be fixed by including also the python3 modules location in the PYTHONPATH by adding following line into the launch file:
<env name="PYTHONPATH" value="<path_to_your_install>/lib/python3/dist-packages:$(env PYTHONPATH)" />
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_example.launch
Or, for the version including plane segmentation:
catkin build convex_plane_decomposition_ros
export TURTLEBOT3_MODEL=waffle
roslaunch elevation_mapping_cupy turtlesim_segmentation_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.