Bev version #116

BV-OpenSource · 2020-10-28T16:35:01Z

No description provided.

Update README.md See merge request drones/gpu-voxels!1

Move prob map See merge request drones/gpu-voxels!2

…ProbMap

Move prob map See merge request drones/gpu-voxels!3

update issue git url to http See merge request drones/gpu-voxels!4

cjue · 2021-12-13T13:43:45Z

@BV-OpenSource Thank you for your mail regarding this PR. I am interested in merging all your changes but might want to suggest some minor changes in the coming days. How soon do you want to finish the ROS release?

BV-OpenSource · 2021-12-13T13:56:39Z

@BV-OpenSource Thank you for your mail regarding this PR. I am interested in merging all your changes but might want to suggest some minor changes in the coming days. How soon do you want to finish the ROS release?

As soon as possible. Feel free to ask any question regarding our changes.

cjue · 2021-12-31T18:10:37Z

Which OS, CUDA and maybe ROS versions are you currently working with?
Also which GPU versions?
Are there setups that you know are still non-working with your latest commits?

I would like to keep the known issues and known working sections as up to date as possible.
I'll spend more time on all the changes in the coming week.

BV-OpenSource · 2022-01-03T09:54:38Z

We are using this package with Ubuntu 18.04 and 20.04, so ROS melodic and noetic and CUDA 10.2.
Our developers computer's are equipped with NVIDIA GPU but our robots are using Jetson Nano, TX2 and Xavier NX.
So far, all the code used for our purpose (Collision Detection and/or Avoidance) is working as pretended.

BV-OpenSource · 2022-01-11T10:25:37Z

@cjue do you have any update on this request? Is there anything we can help?
Feel free to contact us.

cjue · 2022-01-11T13:32:39Z

Thanks for reaching out again. I now plan to first have a release with essentially just this PR and then add in our internal changes afterwards.

I saw that you also have the melodic-dev in your repo.

What about the two commits on there?

Is the "ubuntu 20.04 compatibility" commit needed?
Why did you disable the icl_core tests: just for speed or because of issues?

BV-OpenSource · 2022-01-11T13:38:58Z

Even though is not needed, the code is compatible with both Ubuntu 18.04 and Ubuntu 20.04, I think.
Just for speed, no issues was found.

cjue · 2022-01-11T13:39:26Z

packages/gpu_voxels/CMakeLists.txt

@@ -199,7 +199,7 @@ ICMAKER_CONFIGURE_PACKAGE()

 ###############################################################################
 # Build examples
-ADD_SUBDIRECTORY(src/examples)
+# ADD_SUBDIRECTORY(src/examples)


Did you disable this to save compilation time or because of errors?
I would prefer introducing a CMake build option for this.

As mentioned before, no issues was found. I agree with that suggestion.

wxmerkt

Hi @BV-OpenSource and @cjue,
Thank you very for your work and getting this integrated and ready for binary release to the ROS buildfarm. We are heavy users of GPU-Voxels and are planning to make a PR with additional features in the near-term as well.

Apologies for "jumping in" - a few comments/questions below before this hits the official ROS buildfarm and thus gains wider distribution :-). I used the suggestions feature for easier possible integration. Please ignore comments/questions if irrelevant

Many thanks for all your hard work - this is highly valuable to the wider community,
Wolfgang

wxmerkt · 2021-12-13T13:59:53Z

README.md

+  git clone https://gitlab.com/libeigen/eigen.git
+  sudo cp -r signature_of_eigen3_matrix_library /usr/include/eigen3
+  sudo cp -r unsupported/ /usr/include/eigen3
+  sudo cp -r Eigen/ /usr/include/eigen3


We shouldn't overwrite system-installed packages. What is this required for?

As mentioned in README, to fix "math_functions.hpp not found" on Ubuntu 18.04 with CUDA 10.0.
If you have a better way to fix this, I'm okay with that.

I remember that some way of introducing a newer version of Eigen was needed when Ubuntu 18.04 came out.

We have a script that clones Eigen into a subfolder so you can add it to the build itself, for 18.04, I prefer that over the system overwrite also.

You could check the Eigen version and conditionally use FetchContent or ExternalProject_Add to fetch if required?

wxmerkt · 2022-01-11T10:55:30Z

packages/gpu_voxels/CMakeLists.txt

@@ -199,7 +199,7 @@ ICMAKER_CONFIGURE_PACKAGE()

 ###############################################################################
 # Build examples
-ADD_SUBDIRECTORY(src/examples)
+# ADD_SUBDIRECTORY(src/examples)


I'd suggest adding an OPTION(BUILD_EXAMPLES ON) so it doesn't need to be commented

Suggested change

# ADD_SUBDIRECTORY(src/examples)

IF(BUILD_EXAMPLES)

ADD_SUBDIRECTORY(src/examples)

ENDIF(BUILD_EXAMPLES)

wxmerkt · 2022-01-11T10:58:32Z

packages/gpu_voxels/src/gpu_voxels/voxelmap/ProbVoxelMap.h

@@ -61,6 +62,10 @@ class ProbVoxelMap: public TemplateVoxelMap<ProbabilisticVoxel>,

  size_t collideWith(const voxelmap::BitVectorVoxelMap* map, float coll_threshold = 1.0, const Vector3i &offset = Vector3i());
  size_t collideWith(const voxelmap::ProbVoxelMap* map, float coll_threshold = 1.0, const Vector3i &offset = Vector3i());
+
+  virtual void moveInto(ProbVoxelMap& dest, const Vector3f offset) const;


Should Vector3f be a const-ref?

Not that I'm disagreeing with you but, why not?

Assuming it's an Eigen type, it's recommended to pass by const-ref

Now I see what you were saying, I thought that '&' was there. You're right.

wxmerkt · 2022-01-11T10:58:46Z

packages/gpu_voxels/src/gpu_voxels/voxelmap/ProbVoxelMap.h

@@ -61,6 +62,10 @@ class ProbVoxelMap: public TemplateVoxelMap<ProbabilisticVoxel>,

  size_t collideWith(const voxelmap::BitVectorVoxelMap* map, float coll_threshold = 1.0, const Vector3i &offset = Vector3i());
  size_t collideWith(const voxelmap::ProbVoxelMap* map, float coll_threshold = 1.0, const Vector3i &offset = Vector3i());
+
+  virtual void moveInto(ProbVoxelMap& dest, const Vector3f offset) const;
+  virtual void move(Voxel* dest_data, const Voxel* src_data, const Vector3f offset) const;


Similarly here, should Vector3f a const-ref?

wxmerkt · 2022-01-11T14:04:00Z

README.md

@@ -60,6 +60,12 @@ This is important if you are still using ROS Indigo and need to compile without
 - If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.


Suggested change

- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.

- If the ROS dependency was found, but the GPU-Voxels URDF features are still unavailable, run `source /opt/ros/$ROS_DISTRO/setup.bash` before running cmake.

cjue · 2022-01-11T14:20:09Z

Apologies for "jumping in" - a few comments/questions below before this hits the official ROS buildfarm and thus gains wider distribution :-). I used the suggestions feature for easier possible integration. Please ignore comments/questions if irrelevant

Thank you for your input, feel free to add comments and suggestions!

BV-OpenSource · 2022-01-21T14:13:26Z

@cjue Sorry if we are being annoying but we want to publish our code and we depend on yours.

fazevedo and others added 20 commits April 21, 2020 17:39

Initial commit

f1f03c6

Update RayCast function.

5269408

Merge with PDM server.

4348e18

Update README.md

ffedcb7

Merge branch 'UpdateReadme' into 'master'

5d4923f

Update README.md See merge request drones/gpu-voxels!1

Add move Probability Map functionality.

c97ccf5

Merge branch 'master' of gitlab.pdmfc.com:drones/gpu-voxels

4808a65

Merge branch 'MoveProbMap' into 'master'

9fd6271

Move prob map See merge request drones/gpu-voxels!2

Add Obstacle ID

cb55797

Merge branch 'master' of gitlab.pdmfc.com:drones/gpu-voxels into Move…

d1d9b6d

…ProbMap

Merge branch 'MoveProbMap' into 'master'

7657498

Move prob map See merge request drones/gpu-voxels!3

update issue git url to http

f905766

Merge branch 'patch-1' into 'master'

7462eae

update issue git url to http See merge request drones/gpu-voxels!4

Fix possible memory leak in kernelMoveMap.

690f472

Merge Fábio revisions. Change new probability value.

28c1ce8

Publish the voxels of a ProbVoxelMap as a pointcloud in ROS

6e041a6

Remove ROS from ProbVoxelMap.

5029a81

Change PCD frame_id.

0492c86

Remove gpu map center offset. Please use a TF broadcast.

b5c0b32

Add some operators to Vector3f.

a3c4847

wxmerkt mentioned this pull request Dec 7, 2021

gpu_voxels: 0.8.3-4 in 'melodic/distribution.yaml' [bloom] ros/rosdistro#31358

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cjue reviewed Jan 11, 2022

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Bev version #116

Bev version #116

BV-OpenSource commented Oct 28, 2020

cjue commented Dec 13, 2021

BV-OpenSource commented Dec 13, 2021

cjue commented Dec 31, 2021

BV-OpenSource commented Jan 3, 2022

BV-OpenSource commented Jan 11, 2022

cjue commented Jan 11, 2022

BV-OpenSource commented Jan 11, 2022

cjue Jan 11, 2022

BV-OpenSource Jan 11, 2022

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wxmerkt Dec 13, 2021

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cjue Jan 11, 2022

wxmerkt Jan 11, 2022 •

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cjue commented Jan 11, 2022

BV-OpenSource commented Jan 21, 2022

		@@ -60,6 +60,12 @@ This is important if you are still using ROS Indigo and need to compile without
		- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.

Bev version #116

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Bev version #116

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BV-OpenSource commented Oct 28, 2020

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cjue commented Jan 11, 2022

BV-OpenSource commented Jan 21, 2022

wxmerkt Jan 11, 2022 •

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