About elevation mapping

[lyysl]

I would like to ask is the elevation mapping available? I saw /elevation_mapping/semantic_map in the rostopic list but there is nothing output in rostopic echo /elevation_mapping/semantic_map. And there is the option in Rviz but does not display anything for elevation map. Thank you

[mmattamala]

Hi @lyysl, I assume you are trying the simulation example in the container?

We can add it to the container in the next few days, but we used elevation_mapping_cupy if you are interested.

[lyysl]

I followed the ROS setup and using the ROS bag you provided in google drive for real scenes.

[lyysl]

Or it needs point cloud data which is not in the bags?

[mmattamala]

Hi @lyysl Apologies for the delay

The point cloud data does exist in the bags. For example, for the Banhofstrasse bag (2023-08-19-16-45-16_Bahnhofstrasse_Zurich.bag):

/depth_camera_front_lower/point_cloud_self_filtered    2023 msgs    : sensor_msgs/PointCloud2                
/depth_camera_front_upper/point_cloud_self_filtered    2023 msgs    : sensor_msgs/PointCloud2                
/depth_camera_left/point_cloud_self_filtered           2023 msgs    : sensor_msgs/PointCloud2                
/depth_camera_rear_lower/point_cloud_self_filtered     2023 msgs    : sensor_msgs/PointCloud2                
/depth_camera_rear_upper/point_cloud_self_filtered     2023 msgs    : sensor_msgs/PointCloud2                
/depth_camera_right/point_cloud_self_filtered          2024 msgs    : sensor_msgs/PointCloud2                
/motion_reference/command_twist                        1348 msgs    : geometry_msgs/TwistStamped             
/point_cloud_filter/lidar/point_cloud_filtered         1348 msgs    : sensor_msgs/PointCloud2  

To run the elevation mapping cupy with these data, you can run this launchfile: elevation_mapping_cupy.launch

[lyysl]

I installed eleveation_map_cupy and build. And I run roslaunch wild_visual_navigation_anymal elevation_mapping_cupy.launch. However, I got an error

[ INFO] [1720522902.646004305]: Subscribed to PointCloud2 topic: /point_cloud_filter/lidar/point_cloud_filtered
[elevation_mapping-1] process has died [pid 6974, exit code -6, cmd /mnt/c/myProject/phd/what/software/terrain_segmentation/wild_visual_navigation/catkin_ws/devel/lib/elevation_mapping_cupy/elevation_mapping_node __name:=elevation_mapping __log:=/home/simon/.ros/log/54bcccb4-3ddf-11ef-9fb2-00155d257914/elevation_mapping-1.log].
log file: /home/simon/.ros/log/54bcccb4-3ddf-11ef-9fb2-00155d257914/elevation_mapping-1*.log
all processes on machine have died, roslaunch will exit

Thank you!

[JonasFrey96]

Hi, were you able to run the master branch of elevation_mapping_cupy standalone? If not, you can move the issue to the elevation_mapping_cupy repo?