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Release 1.1: Lots of fixes, new CountingVoxelList, new gvl_ompl_plann…
…ing example and better C++11, Ubuntu 16.04 support Known issues: - Octrees are broken on Pascal GPUs - confirmed on Titan Xp and GTX 1080 Ti - the GLM in Ubuntu 16.04 has to be patched to allow usage of the visualizer. - see g-truc/glm#530 - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch - Cuda 9.1 - many incompatibilities are fixed, but there are still failing tests in the voxellist and octree test-suites API breaking changes: - GpuVoxels - addMap returns null-initialized shared_ptr if map already exists - lockSelf, lockBoth & Co removed, replaced by exception-safe lock_guard constructs to improve debugging - TinyXML - use system version from APT package libtinyxml-dev Major changes: - Changes in CUDA CMake setup - uncomment SET(CMAKE_CXX_STANDARD 11) at the top of CMakeLists.txt to activate C++11 mode - set -maxrregcount=63 to avoid errors on desktop GPUs with 1024 threads per block - always use ICMAKER_CUDA_CPPDEFINES to pass parameters to nvcc - Added OMPL planning example gvl_ompl_planning (Thanks to Andreas Hermann) - requires C++11 - incompatible with GPU-Voxels built with PCL 1.7 - Added model "ur10_coarse" voxelized at 9mm - Added CountingVoxelList to offer pointcloud density filtering (Thanks to Herbert Pietrzyk) - Use remove_underpopulated(minimum_count) to remove outliers - Use subtractFromCountingVoxelList to remove the robot and static objects - Added BitVoxelMap collision with ProbVoxelmap - ProbVoxelMap - insert() parses BitVoxelMeaning to allow freeing single voxels - SVCollider checks for noneButEmpty instead of isZero - Fix CUDA 9 incompatibilities, issue 63 - version macro - cub namespace - __ballot vs __ballot_sync Minor changes: - DistanceVoxelTest uses double buffering of DistanceVoxelMap to avoid flickering - ProbVoxelMap: Speed up the clearing of ProbVoxelMap by using memset instead of ctor calls for every voxel - C++11 fixes - icl_core_logging operator<< stringstream bug - various fixes collected by dybedal in issue 55 - VoxelList collision - added test cases and examples - fixed memory leaks in TemplateVoxelList - fixed PCL dependency of examples and helpers, see issue 61 - fix computeLinearLoad returning grid and block size 0 - added many checks after kernel launches to improve error discovery Other changes: - Documentation updates
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| Original file line number | Diff line number | Diff line change |
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| # this is for emacs file handling -*- mode: cmake; indent-tabs-mode: nil -*- | ||
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| # ====================================== | ||
| # CMakeLists file to demonstrate how to use GPU Voxels as a collision checker in OMPL: | ||
| # ====================================== | ||
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| cmake_minimum_required (VERSION 2.8) | ||
| SET(CMAKE_CXX_STANDARD 11) | ||
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| project (gvl_ompl_planning) | ||
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| # First we have to find our dependencies: | ||
| FIND_PACKAGE(icl_core REQUIRED ) | ||
| FIND_PACKAGE(gpu_voxels REQUIRED) | ||
| FIND_PACKAGE(Boost COMPONENTS system REQUIRED) | ||
| FIND_PACKAGE(CUDA REQUIRED) | ||
| FIND_PACKAGE(ompl REQUIRED) | ||
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| # This is a quirk and should be removed in upcoming versions | ||
| # If you built GPU Voxels without ROS support, remove this. | ||
| FIND_PACKAGE(orocos_kdl REQUIRED) | ||
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| # A little debug info: | ||
| MESSAGE(STATUS "GVL include dirs are: ${gpu_voxels_INCLUDE_DIRS}") | ||
| MESSAGE(STATUS "OMPL include dirs are: ${OMPL_INCLUDE_DIRS}") | ||
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| # Also we have to inherit some Environment definitions required for our base libs: | ||
| add_definitions( | ||
| ${icl_core_DEFINITIONS} | ||
| ${gpu_voxels_DEFINITIONS} | ||
| ) | ||
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| # Create a library that uses GPU Voxels: | ||
| add_library (gvl_ompl_planner_helper gvl_ompl_planner_helper.cpp) | ||
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| target_include_directories (gvl_ompl_planner_helper | ||
| PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} | ||
| PUBLIC ${gpu_voxels_INCLUDE_DIRS} | ||
| PUBLIC ${CUDA_INCLUDE_DIRS} | ||
| PUBLIC ${OMPL_INCLUDE_DIRS} | ||
| PUBLIC ${orocos_kdl_INCLUDE_DIRS} # this should be removed in upcoming versions. | ||
| ) | ||
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| # Add an executable that calls the lib: | ||
| add_executable (gvl_ompl_planner gvl_ompl_planner.cpp) | ||
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| # Link the executable to the library. | ||
| # We currently also have to link against Boost and icl_core... | ||
| target_link_libraries (gvl_ompl_planner | ||
| LINK_PUBLIC gvl_ompl_planner_helper | ||
| LINK_PUBLIC ${Boost_SYSTEM_LIBRARY} | ||
| LINK_PUBLIC ${icl_core_LIBRARIES} | ||
| LINK_PUBLIC ${gpu_voxels_LIBRARIES} | ||
| LINK_PUBLIC ${OMPL_LIBRARIES} | ||
| ) | ||
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| == Planning example combining OMPL and GPU-Voxels == | ||
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| This example uses GPU-Voxels data structures and collision checking to plan the movement of a 6DOF robot arm in OMPL. | ||
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| == Requirements == | ||
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| * OMPL from ROS Kinetic | ||
| * GPU-Voxels built without PCL support, or linked against a C++11 compatible version like 1.8 | ||
| * CUDA 8.0 | ||
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| == Setup == | ||
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| * build GPU-Voxels with C++11 enabled and install to gpu-voxels/export | ||
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| cd <gpu-voxels-path> | ||
| mkdir build | ||
| cd build | ||
| cmake -DCMAKE_DISABLE_FIND_PACKAGE_PCL=TRUE .. | ||
| make && make install | ||
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| * build planner | ||
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| cd <gpu-voxels-path>/gvl_ompl_planning | ||
| mkdir build | ||
| cd build | ||
| cmake -DCMAKE_PREFIX_PATH=<gpu-voxels-path>/export .. | ||
| make | ||
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| == Running the planner == | ||
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| * Launch planner | ||
| export GPU_VOXELS_MODEL_PATH=<gpu-voxels-path>/packages/gpu_voxels/models/ | ||
| ./gvl_ompl_planner | ||
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| * Start Visualizer | ||
| <gpu_voxels>/build/bin/gpu_voxels_visualizer | ||
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| == When building GPU-Voxels with PCL 1.8.1 == | ||
| * build PCL 1.8.1 from source | ||
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| * build GPU-Voxels with PCL 1.8.1 | ||
| cd build | ||
| cmake .. -DCMAKE_PREFIX_PATH=~/pcl-1.8.1/build:$CMAKE_PREFIX_PATH # use pcl version 1.8.1 | ||
| make && make install | ||
| # run "bin/gpu_voxels_visualizer" after starting gvl_ompl_planning | ||
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| * build gvl_ompl_planning | ||
| cd gvl_ompl_planning | ||
| mkdir build | ||
| cd build | ||
| export LD_LIBRARY_PATH=~/pcl-1.8.1/build/lib:$LD_LIBRARY_PATH # if you still have pcl1.7 installed | ||
| cmake -DCMAKE_PREFIX_PATH=<gpu-voxels-path>/export:~/pcl-1.8.1/build/lib/ .. | ||
| make | ||
| ldd gvl_ompl_planner | grep -F "libpcl" # make sure there are no pcl 1.7 libraries linked in | ||
| ./gvl_ompl_planner | ||
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