elevation_mapping_cupy for ROS 2 Humble
Major Changes
- Full ROS 2 Humble migration
- Dual Python and C++ node implementation
- CMake and Python build support (ament_cmake_python)
- Improved point cloud processing pipeline
- Enhanced coordinate frame handling
- Updated dependencies for ROS 2 ecosystem
Installation
# Clone repository
cd ~/ros2_ws/src
git clone -b ros2 https://github.com/leggedrobotics/elevation_mapping_cupy.git
# Install dependencies
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
# Build
colcon build --packages-up-to elevation_mapping_cupyBreaking Changes from v1.0
- ROS 2 message interfaces
- Updated parameter system
- New launch file format
- Changed topic naming conventions
Tested Configurations
- Ubuntu 22.04
- ROS 2 Humble
- CUDA 11.x and 12.x
- Python 3.10
See README for detailed documentation and examples.