PICO-elevationmap is a ROS-free 2.5D elevation mapping library for PICO quadrupeds and humanoids. Poses come from a timestamped SE3 pose buffer instead of tf; sensor noise and the plugin chain are YAML-driven; maps can be replayed offline from npz sequences or rosbags without a ROS graph.
Public source alpha, GitHub-only release, MIT licensed. Not production-ready. Full release status and known limitations: docs/open-source-readiness.md.
| Area | Status |
|---|---|
| Platform | x86_64 Linux, NVIDIA GPU, CUDA 12.x headers |
| Python | 3.12 (CI target) |
| ROS2 bridge | Optional; sourced ROS2 required; no ament package |
| RealSense / LiDAR | Optional; D435i and RoboSense Airy paths are prototype quality |
| Four-camera D435i rig | Config + single-camera subset tested; four-device hardware unverified |
torch backend / bench |
Deferred (Phase 3) |
git clone https://github.com/PICO4robot/PICO-elevationmap.git
cd PICO-elevationmap
bash scripts/setup_env.shsetup_env.sh syncs from source with the CUDA and RealSense extras, verifies NVRTC and
the RealSense SDK, and runs pytest. Add --ros for a ROS-visible .venv-ros,
--skip-tests to skip pytest, or --dry-run to preview. The wheel's
elevation-mapping-cupy-core dependency is git-only, so plain pip install dist/*.whl
needs --no-deps; source install is the supported path.
# Synthetic scene: flat ground + box + steps, circular trajectory
uv run pico-elevationmap run --config src/pico_elevationmap/configs/run_sim.yaml \
--save maps/map.npz --save-frames maps/frames.npz
# Offline replay: npz frames / frame dirs / rosbag (.bag/.db3/.mcap, no ROS install)
uv run pico-elevationmap replay --config src/pico_elevationmap/configs/run_sim.yaml \
--input maps/frames.npz --save maps/replay_map.npz --export-ply maps/map.ply
# Export a saved map: PLY / PGM (16-bit elevation) / CSV
uv run pico-elevationmap export --input maps/replay_map.npz --layers elevation --output maps/elevation.pgm- docs/en/README.md — English quickstart, API and readiness summaries
- docs/README.md — full Chinese documentation index
- docs/development.md — environment, D435i, LiDAR, ROS2 launch and Foxglove details
- docs/api.md — public import paths and examples
- TODO.md — open work
Optional live paths (details in the docs above):
- D435i live:
uv run python -m pico_elevationmap.live.realsense_live --config src/pico_elevationmap/configs/realsense_live.yaml --view --voxel-view --frames 0 - D435i + RoboSense Airy: see §5.2 and
realsense_lidar.yaml - Four-camera D435i: see §5.5 and
quad_camera.yaml - ROS2 launch / Foxglove bridge: see §5.3 / §5.4
Prototype-quality output from a static D435i; not a calibrated deployment.
env -u PYTHONPATH uv run pytest -q
uv run ruff check .
uv run ruff format --check .
bash -n scripts/setup_env.shMIT — see LICENSE and THIRD_PARTY_NOTICES.md for the upstream notices.