Mapping Third-Party

ROS mapping dependencies used by the ADMM-CLM workspace. This repository is a vendored collection of upstream projects with local integration changes, not a single original mapping library.

Public repository: GTLIDAR/mapping_third_party.

Components

Directory	Purpose	Original upstream
elevation_mapping	C++ elevation mapping	ANYbotics/elevation_mapping
elevation_mapping_cupy	GPU mapping and C++ plane-segmentation packages	leggedrobotics/elevation_mapping_cupy
grid_map	Grid-map storage, processing, ROS interfaces, and RViz visualization	ANYbotics/grid_map
kindr	Kinematics and rotation representations	ANYbotics/kindr
kindr_ros	ROS conversions, messages, and visualization for kindr	ANYbotics/kindr_ros
message_logger	Logging utilities	ANYbotics/message_logger
point_cloud_io	Point-cloud file input/output	ANYbotics/point_cloud_io

The collection was copied from DRCL-USC/Quadruped_Wrapper's third_party directory at commit 837f51807e192241437c642bc5dc9c93a46224f0. Local directories may differ from their upstream versions. Integration changes include RViz grid-line rendering updates, mapping numerical safeguards, and removal of the obsolete RealSense Gazebo plugin.

Build and Use

Use a ROS Noetic catkin workspace with catkin_tools. From the workspace root:

source /opt/ros/noetic/setup.bash
catkin config --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build elevation_mapping convex_plane_decomposition_ros point_cloud_io \
  grid_map_rviz_plugin --jobs 4 --parallel-packages 1
source devel/setup.bash

Install the required ROS and system dependencies before building; see each component's package manifest and README. The cgal5_catkin wrapper downloads CGAL 5.3 during the initial build, requiring network access. Reduce --jobs if memory is limited.

ADMM-CLM uses the C++ elevation mapper and the CPU plane-decomposition pipeline, not the CuPy GPU mapper. CUDA/CuPy are not required for this CPU pipeline. GPU mapping and upstream demos have additional requirements described in the elevation_mapping_cupy README. See the plane-segmentation README for standalone launch commands.

When used inside the ADMM-CLM workspace, its shared mapping launch is:

roslaunch ocs2_multi_robot elevation_mapping_fixed.launch \
  world_name:=gap_slope_course

This launch belongs to ocs2_multi_robot, not this repository, and requires the workspace's terrain assets and configured TF frames.

License and Citation

There is no single license covering the entire collection. The ANYbotics components retain their BSD-3-Clause licenses; elevation_mapping_cupy retains its MIT license. Embedded and fetched dependencies have their own terms, including EigenLab and CGAL. Preserve component license files and source-file copyright notices; the collection is not MIT-only.

The CPU plane-decomposition code uses CGAL 5.3 Shape_detection (GPL-3.0-or-later) and Polygon (LGPL-3.0-or-later). Review the applicable combined-binary and corresponding-source obligations before distributing executables or Docker images; merely including license texts does not establish complete compliance.

Follow the citation instructions in the grid_map, elevation_mapping, and elevation_mapping_cupy READMEs for the methods actually used. Credit their original authors, not only this collection's maintainer.