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fzi-forschungszentrum-informatik / gpu-voxels

GPU-Voxels is a CUDA based library which allows high resolution volumetric collision detection between animated 3D models and live pointclouds from 3D sensors of all kinds.

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Bev version #116

Open BV-OpenSource opened 4 years ago

cjue commented 2 years ago

@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 commented 2 years ago

@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 commented 2 years ago

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 commented 2 years ago

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 commented 2 years ago

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

cjue commented 2 years ago

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 commented 2 years ago

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 commented 2 years ago

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 commented 2 years ago

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