ROS 2¶

Pelorus builds as an ordinary ament package, so it fits into a colcon workspace without anything special. Humble, Jazzy and Lyrical are the supported distributions. Prebuilt packages are listed under installation.

Building from source¶

Install Rust first, then:

cd ~/ros2_ws/src
git clone ssh://git.steado.tech/pelorus.git
cd ..

rosdep install --from-paths src -y --ignore-src
colcon build --packages-select pelorus

The first build takes a while.

Running¶

source install/setup.bash

# generate a configuration and set topics, frame IDs and sensor parameters
ros2 run pelorus pelorus config generate recommended > pelorus.rl

ros2 launch pelorus pelorus.launch.py config_path:=pelorus.rl rviz:=false

See configuration for what to put in that file.

Build options¶

Compile-time options are CMake arguments, named after the Cargo feature in upper case with a PELORUS_ prefix:

colcon build --packages-select pelorus --cmake-args -D PELORUS_CUDA=ON

PELORUS_CUDA, PELORUS_METAL, PELORUS_VULKAN and PELORUS_LARGE_PROCESSING_QUEUE can also be set as environment variables of the same name.

Option	Effect
`PELORUS_CUDA`	CUDA acceleration. The CUDA directory is searched for, and `CUDA_HOME` overrides the result.
`PELORUS_VULKAN`	Vulkan acceleration. See the Vulkan prerequisites.
`PELORUS_METAL`	Metal acceleration on macOS with Apple Silicon.
`PELORUS_RERUN`	Compile Rerun visualization support, activated at runtime with `output.rerun = true`.
`PELORUS_MIMALLOC`	Use mimalloc as the allocator.
`PELORUS_LARGE_PROCESSING_QUEUE`	Larger internal processing queues.
`PELORUS_NO_VIZ`	Drop visualization support entirely.

rat and rayon are on by default. rat synchronizes input and output for use with Minot through the -r flag, and rayon uses all available CPU cores. Turn both off with -D PELORUS_ALL_DEFAULTS=OFF.

Rerun's server address and map settings live under output.rerun in the configuration file and can be overridden per run, for example with -o output.rerun.server_addr="192.168.1.2:9876".