Running the elevation_mapping_cupy with your own ros2 bag

[ylenianistico]

Hi there!

Thanks for all the great work on this package. I’m currently using ROS 2 Humble and have applied the changes from PR #110.

I was able to launch the demo with: ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py.
However, I’d like to feed in my own data instead of the turtlebot example. Could you let me know:

1. Which ROS 2 node should I launch to process custom input?
2. Which script or configuration file I need to edit in order to remap the topic names to match my bag?

For reference, my ROS 2 bag contains the following topics:

• IMU
• LiDAR point cloud
• LiDAR odometry

Any pointers would be greatly appreciated!

[doctorcolossus]

Hey @ylenianistico, I am just another user, so not an expert, but have you checked the "getting started" section of the documentation? Per that, you can run roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch. If you check that launch file, you can see that it sources config/core/core_param.yaml and config/core/example_setup.yaml. You can for example copy example_setup.yaml for your project, define your topics in it, and update the launch file to point to it; or copy the launch file and point it to your configuration. Does that help?

[doctorcolossus]

However, I believe that this is a ROS library and doesn't work with ROS 2 as far as I know.

[ylenianistico]

@doctorcolossus thank you very much for your help! In the end, I was able to launch the package with my ros2 bag by using the code of the PR I mentioned, after some minor modifications.

Anyway, yes, this is a ROS library, but I saw that a branch ros2 exists, so I suppose it is somehow planned to move to ROS2 (?). Additionally, I also found PR#110 which provided the code for running the package using ROS2!

Thanks again for the help

[doctorcolossus]

Nice, interesting to know about the ROS 2 PR and branch and glad to hear that you got it working!

[samchopra2003]

Hi I have a ros1 bag with similar sensors, can you provide instructions on how you got the system to work?

[ylenianistico]

Hi I have a ros1 bag with similar sensors, can you provide instructions on how you got the system to work?

@samchopra2003 i'm not sure about the procedure to make the code work with ROS1. For ROS2, we launched the node using ros2 launch elevation_mapping_cupy elevation_mapping.launch.py, there should be the equivalent for ROS1. Then, we add our subscriber in example_setup.yaml, we modified the base_frame in core_param.yaml (you need to adjust it according to your robot).

Then to visualize the map in RViz, click Add --> By display type --> GridMap --> Select GridMap --> set the topic to /elevation_mapping_node/elevation_mapping_raw (or filter) - Then in the GridMap panel --> use the Layer dropdown to pick "elevation" or "traversability".

[xuyuxiu83]

Hi I have a ros1 bag with similar sensors, can you provide instructions on how you got the system to work?

@samchopra2003 i'm not sure about the procedure to make the code work with ROS1. For ROS2, we launched the node using ros2 launch elevation_mapping_cupy elevation_mapping.launch.py, there should be the equivalent for ROS1. Then, we add our subscriber in example_setup.yaml, we modified the base_frame in core_param.yaml (you need to adjust it according to your robot).

Then to visualize the map in RViz, click Add --> By display type --> GridMap --> Select GridMap --> set the topic to /elevation_mapping_node/elevation_mapping_raw (or filter) - Then in the GridMap panel --> use the Layer dropdown to pick "elevation" or "traversability".

Hi! I have been working with this project recently. Maybe a little bit different from your setting, I'm using rgb image as the input. When I follow your step to visualize the map in rviz2, there seems no available map. So, could you please help me to analyze the problem?[

[ylenianistico]

Hi @xuyuxiu83 , one simple question: is your /elevation_mapping topic visible with rostopic echo on the terminal?

[xuyuxiu83]

Hi @xuyuxiu83 , one simple question: is your /elevation_mapping topic visible with rostopic echo on the terminal?

I think the key is that the python implementation of this project is not entirely reliable. I followed the orin branch of this fork:https://github.com/amilearning/elevation_mapping_cupy_ros2. This fork comments out the part of the Python code that receives the image, and the entire process is implemented in C++. Currently, I can run this project normally on my local machine.