deploy: adac621

.buildinfo

@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 220a603646fe45b7c5d09365057b4547
+tags: 645f666f9bcd5a90fca523b33c5a78b7

_sources/documentation.rst.txt

@@ -0,0 +1,69 @@
+##################################################
+Multi-modal elevation mapping's documentation
+##################################################
+Welcome to elevation mapping documentation
+
+.. image:: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg
+    :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg
+    :alt: python tests
+
+.. image:: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/documentation.yml/badge.svg
+    :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/documentation.yml/badge.svg
+    :alt: documentation
+
+Index
+---------------
+
+| :doc:`getting_started/introduction` - What is elevation mapping cupy
+| :doc:`getting_started/installation` - How to install the elevation map
+| :doc:`getting_started/tutorial` - How to launch the first elevation map
+
+
+This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for GPU computation. The
+plane segmentation is done independently and runs on CPU. When the plane segmentation is generated, local convex approximations of the
+terrain can be efficiently generated.
+
+.. image:: ../media/main_repo.png
+    :alt: Elevation map examples
+.. image:: ../media/main_mem.png
+    :alt: Overview of the project
+
+
+Citing
+---------------
+If you use the elevation mapping cupy, please cite the following paper:
+Elevation Mapping for Locomotion and Navigation using GPU
+
+.. hint:: 
+
+    Elevation Mapping for Locomotion and Navigation using GPU  `Link <https://arxiv.org/abs/2204.12876>`_
+
+    Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter  
+
+.. code-block::
+
+    @misc{mikielevation2022,
+        doi = {10.48550/ARXIV.2204.12876},
+        author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco},
+        keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences},
+        title = {Elevation Mapping for Locomotion and Navigation using GPU},
+        publisher = {International Conference on Intelligent Robots and Systems (IROS)},
+        year = {2022},
+    }
+
+Multi-modal elevation mapping if you use color or semantic layers
+
+.. hint::
+
+    MEM: Multi-Modal Elevation Mapping for Robotics and Learning  `Link <https://arxiv.org/abs/2309.16818v1>`_
+
+    Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter
+
+.. code-block::
+
+    @misc{Erni2023-bs,
+        title = "{MEM}: {Multi-Modal} Elevation Mapping for Robotics and Learning",
+        author = "Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco",
+        publisher = {International Conference on Intelligent Robots and Systems (IROS)},
+        year = {2023},
+    }

_sources/getting_started/cuda_installation.rst.txt

@@ -0,0 +1,40 @@
+Cuda installation
+==================================================================
+.. _cuda_installation:
+
+
+CUDA
+-------------------------------------------------------------------
+
+You can download CUDA10.2 from `here <https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin>`_.
+You can follow the instruction.
+
+.. code-block:: bash
+
+  wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
+
+  sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
+
+  sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
+
+  sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /"
+
+  sudo apt-get update
+
+  sudo apt-get -y install cuda
+
+
+cuDNN
+-------------------------------------------------------------------
+
+You can download specific version from `here <https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/>`_.
+For example, the tested version is with `libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb`.
+
+Then install them using the command below.
+
+.. code-block:: bash
+
+  sudo dpkg -i libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb
+
+  sudo dpkg -i libcudnn8-dev_8.0.0.180-1+cuda10.2_amd64.deb
+