elevation_mapping_cupy on Orin

Follow https://github.com/leggedrobotics/elevation_mapping_cupyhttps://github.com/leggedrobotics/elevation_mapping_cupy

mkdir -p ws_em/src && cd ws_em/src
git clone https://github.com/leggedrobotics/elevation_mapping_cupy.git

Install python dependencies

Install pip first

sudo apt install python3-pip

cd elevation_mapping_cupy
pip3 install -r requirements.txt
pip3 install cupy==11.4.0
pip3 install Cython

If some version related error occured, reinstall the corresponding packages of the correct versions using the format of pip3 install shapely==1.7.1

Be sure to install cupy 1.14.0. Otherwise some incompatibility issue may occur.

Install ROS dependencies

Install ROS first following noetic/Installation/Ubuntu - ROS Wiki

Setup the Tsinghua mirrors following ros | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror

sudo apt install ros-noetic-pybind11-catkin
sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs

It's better to sudo apt install ros-noetic-grid-map*, otherwise, an error will occur later about missing grid-map packages.

Other dependencies

sudo apt install libopencv-dev libeigen3-dev libgmp-dev libmpfr-dev libboost-all-dev
sudo apt install libopenblas-dev
sudo apt install gfortran
sudo apt install libcgal-dev

Install torch for arm achitecture

pip3 install torch-1.12.0a0+2c916ef.nv22.3-cp38-cp38-linux_aarch64.whl

Need to install the version matching the python version, python3.8 in this case.

Install opencv from source

following How to install OpenCV on Ubuntu 20.04 - VITUXOpenCV is a library of computer vision abbreviated as Open Source Computer Vision Library. Open means it is an open-source library with bindings for python, C++…https://vitux.com/opencv_ubuntu/

sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
gfortran openexr libatlas-base-dev python3-dev python3-numpy \
libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev

mkdir ~/opencv_build && cd ~/opencv_build
git clone https://github.com/opencv/opencv.git

git clon