Quadruped robot | gem (elevation map) + fast_ Deployment records of Leo (odometry) environment

Due to the needs of the project and scientific research , Often need to be on different platforms （ For example, my desktop and projects pc） Deploy GEM(elevation map) + Fast_lio(odomtry) Environment , Therefore, record the installation process and the solutions that appear every time in the process .
System ：
Ubuntu 18.04 CUDA10.2

1. GEM && GEM Dependencies install

GEM yes ZJU Robotics Lab Open source construction elevation map Program

@ARTICLE{
    9293017,  
author={
    Y. {
    Pan} and X. {
    Xu} and X. {
    Ding} and S. {
    Huang} and Y. {
    Wang} and R. {
    Xiong}},  
journal={
    IEEE Transactions on Instrumentation and Measurement},   
title={
    GEM: Online Globally Consistent Dense Elevation Mapping for Unstructured Terrain},   
year={
    2021},  
volume={
    70},  
number={
    },  
pages={
    1-13},  
doi={
    10.1109/TIM.2020.3044338}}

0) costmap 、octomap INSTALL

sudo apt install ros-melodic-costmap-2d

sudo apt-get install ros-melodic-octomap-msgs
sudo apt-get install ros-melodic-octomap-ros

1）Grid Map INSTALL

Addr: https://github.com/anybotics/grid_map
INSTALL：

cd catkin_ws/src
git clone https://github.com/anybotics/grid_map.git
cd ../
catkin_make

There may be problems ：

In file included from /home/ysc/hedian_lib/grid_map_ws/src/grid_map-master/grid_map_filters/src/ThresholdFilter.cpp:9:0:
/home/ysc/hedian_lib/grid_map_ws/src/grid_map-master/grid_map_filters/include/grid_map_filters/ThresholdFilter.hpp:14:10: fatal error: filters/filter_base.hpp:  There is no file or directory 
 #include <filters/filter_base.hpp>
          ^~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
grid_map-master/grid_map_filters/CMakeFiles/grid_map_filters.dir/build.make:62: recipe for target 'grid_map-master/grid_map_filters/CMakeFiles/grid_map_filters.dir/src/ThresholdFilter.cpp.o' failed
make[2]: *** [grid_map-master/grid_map_filters/CMakeFiles/grid_map_filters.dir/src/ThresholdFilter.cpp.o] Error 1
CMakeFiles/Makefile2:4940: recipe for target 'grid_map-master/grid_map_filters/CMakeFiles/grid_map_filters.dir/all' failed
make[1]: *** [grid_map-master/grid_map_filters/CMakeFiles/grid_map_filters.dir/all] Error 2
make[1]: ***  Waiting for unfinished tasks ....

solve ：
take grid_map All of them filter_base.hpp Switch to filter_base.h. Pictured

2）Kindr

Addr : https://github.com/anybotics/kindr

git clone https://github.com/ANYbotics/kindr.git
cd kindr/
mkdir build
cd build
cmake .. -DUSE_CMAKE=true
sudo make install

3) PCL

ROS Installed in the background PCL and VTK
Test available PCL edition ：PCL-1.8

4) Eigen

because fast lio need Eigen 3.3.9, Therefore, you can have Eigen Install another one on the basis of 3.3.9 edition , Switch versions when using
Eigen 3.3.9 Version download
View the present Eigen edition

gedit /usr/include/eigen3/Eigen/src/Core/util/Macros.h

install Eigen 3.3.9

#git clone https://github.com/libeigen/eigen.git
wget https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.zip
unzip eigen-3.3.9.zip

Eigen3 Multi version switching

4) CUDA

Tested GEM Usable CUDA edition

CUDA Version 11.0.207
CUDA Version 10.2.89

First check cuda edition

 cat /usr/local/cuda/version.txt
 CUDA Version 10.2.89

see CUDA Ability to calculate （GEM in CUDA Configuration requires ）

cd /usr/local/cuda-11.0/samples/1_Utilities/deviceQuery
2 sudo make
3 sudo ./deviceQuery

Query results ：

therefore , This machine CUDA Ability to calculate
arch=compute_86,code=sm_86

5) GEM

cd catkin_workspace/src
git clone https://github.com/ZJU-Robotics-Lab/GEM.git
git clone https://github.com/ZJU-Robotics-Lab/slam_msg.git
git clone https://github.com/ANYbotics/kindr_ros.git
cd ../
catkin_make

problem 1：

[  1%] Built target actionlib_generate_messages_eus
In file included from /usr/include/eigen3/Eigen/Core:42:0,
                 from /home/ysc/gem_test_0422/src/elevation_mapping_periodical/elevation_mapping/cuda/gpu_process.cu:15:
/usr/local/cuda-10.2/include/math_functions.hpp:54:2: warning: #warning "crt/math_functions.hpp is an internal header file and must not be used directly. Please use cuda_runtime_api.h or cuda_runtime.h instead." [-Wcpp]
 #warning "crt/math_functions.hpp is an internal header file and must not be used directly. Please use cuda_runtime_api.h or cuda_runtime.h instead."
  ^~~~~~~
In file included from /usr/local/cuda-10.2/include/cuda_runtime.h:115:0,
                 from <command-line>:0:
/usr/local/cuda-10.2/include/crt/common_functions.h:74:24: error: token ""__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported. Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^
/usr/local/cuda-10.2/include/crt/common_functions.h:74:24: note: in definition of macro ‘__CUDACC_VER__’
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported. Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/cuda-10.2/include/crt/common_functions.h:74:24: error: token ""__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported. Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^
/usr/local/cuda-10.2/include/crt/common_functions.h:74:24: note: in definition of macro ‘__CUDACC_VER__’
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported. Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[  1%] Built target tf_generate_messages_lisp
/

problem 1 solve ：

 cd /usr/local/cuda-10.2/include/crt/common_functions.h 
 comment out line 74
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported. Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead.

problem 2

problem 2 solve

This is a CUDA Cmakelist in NVCC Compilation settings are not set correctly
CUDA It's using NVCC compiler , The compilation process will not be in catkin_make Window error , But it will be there. GEM function CUDA Report an error in the process

Should be based on CUDA deviceQuery The result of query is modified arch=compute_80,code=sm_80

src/elevation_mapping_periodical/elevation_mapping/cuda/CMakeLists.txt
project(gpu) # required cmake version 
cmake_minimum_required(VERSION 2.8) # packages 
find_package(CUDA REQUIRED) 
find_package(Eigen3 REQUIRED)
find_package(kindr)

# set(CUDA_NVCC_FLAGS -O3;-G;-g) 
SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3;-std=c++14 -gencode arch=compute_80,code=sm_80)
# SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3;-std=c++14 -gencode arch=compute_75,code=sm_75)
#include_directories(${EIGEN3_INCLUDE_DIRS})
file(GLOB_RECURSE CURRENT_HEADERS *.h *.hpp *.cuh) 
file(GLOB CURRENT_SOURCES *.cpp *.cu) 
source_group("Include" FILES ${CURRENT_HEADERS}) 
source_group("Source" FILES ${CURRENT_SOURCES}) 
cuda_add_library(gpu SHARED ${CURRENT_HEADERS} ${CURRENT_SOURCES})

problem 3

This is in a poor performance NX Up and running GEM, I hung up as soon as I ran , Because the processor performance is too poor , I can't handle so much

problem 4 solve

hold src/elevation_mapping_periodical/elevation_mapping/src/ElevationMapping.cpp Chinese vs image Comment out the processing part of （image Color the point cloud ）, It will save a lot of computing power
Pictured
Comment it out and you can run

problem 5

code ~/src/elevation_mapping_periodical/elevation_mapping_demos/config/robots/fxz_robot.yaml
camera_params_yaml: "/home/nickle/yq_intrinsic.yaml"  To change the path , Here, the absolute path is set in the source code 

2. FAST-Lio && FAST-Lio Dependencies install

1） Livox-SDK

Livox-SDK Installation instructions

git clone https://github.com/Livox-SDK/Livox-SDK.git
cd Livox-SDK
cd build && cmake ..
make
sudo make install

2）livox_ros_driver

https://github.com/Livox-SDK/livox_ros_driver

git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src
cd ws_livox
catkin_make

3）FAST -LIO

cd ~/$A_ROS_DIR$/src
git clone https://github.com/hku-mars/FAST_LIO.git
cd FAST_LIO
git submodule update --init
cd ../..
catkin_make
source devel/setup.bash

problem 1

In file included from /home/ysc/GEM_ws/src/fast-lio/FAST_LIO_ws/src/FAST_LIO/src/IMU_Processing.hpp:11:0,
                 from /home/ysc/GEM_ws/src/fast-lio/FAST_LIO_ws/src/FAST_LIO/src/laserMapping.cpp:46:
/home/ysc/GEM_ws/src/fast-lio/FAST_LIO_ws/src/FAST_LIO/include/common_lib.h:8:10: fatal error: fast_lio/Pose6D.h:  There is no file or directory 
 #include <fast_lio/Pose6D.h>
          ^~~~~~~~~~~~~~~~~~~
compilation terminated.
fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/build.make:62: recipe for target 'fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o' failed
make[2]: *** [fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o] Error 1
make[2]: ***  Waiting for unfinished tasks ....
In file included from /home/ysc/GEM_ws/src/fast-lio/FAST_LIO_ws/src/FAST_LIO/src/preprocess.cpp:1:0:
/home/ysc/GEM_ws/src/fast-lio/FAST_LIO_ws/src/FAST_LIO/src/preprocess.h:4:10: fatal error: livox_ros_driver/CustomMsg.h:  There is no file or directory 
 #include <livox_ros_driver/CustomMsg.h>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/build.make:110: recipe for target 'fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/src/preprocess.cpp.o' failed
make[2]: *** [fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/src/preprocess.cpp.o] Error 1
CMakeFiles/Makefile2:6324: recipe for target 'fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/all' failed
make[1]: *** [fast-lio/FAST_LIO_ws/src/FAST_LIO/CMakeFiles/fastlio_mapping.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j6 -l6" failed

solve ：
Manual will livox_ros_driver Generated msg Copied to the ws/devel/include Next

problem 2

FASTlio Adapted to eigen yes 3.3.9
If not, it will produce a lot of Eigen Related error reporting , At this time, you can switch or install according to the above instructions Eigen3-3-9