{"id":19134295,"url":"https://github.com/um-arm-lab/gpu_voxel_planning","last_synced_at":"2025-07-15T14:20:04.474Z","repository":{"id":79650870,"uuid":"115946371","full_name":"UM-ARM-Lab/gpu_voxel_planning","owner":"UM-ARM-Lab","description":"Brad's library for PhD research on CHS, BTP, and other voxel-based planning approaches using ARMLabs Victor robot","archived":false,"fork":false,"pushed_at":"2021-06-17T20:15:08.000Z","size":102239,"stargazers_count":3,"open_issues_count":2,"forks_count":1,"subscribers_count":8,"default_branch":"master","last_synced_at":"2025-01-03T12:14:38.716Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/UM-ARM-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2018-01-01T20:39:50.000Z","updated_at":"2023-01-30T08:49:05.000Z","dependencies_parsed_at":"2023-05-14T09:00:38.611Z","dependency_job_id":null,"html_url":"https://github.com/UM-ARM-Lab/gpu_voxel_planning","commit_stats":null,"previous_names":[],"tags_count":3,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fgpu_voxel_planning","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fgpu_voxel_planning/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fgpu_voxel_planning/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fgpu_voxel_planning/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/UM-ARM-Lab","download_url":"https://codeload.github.com/UM-ARM-Lab/gpu_voxel_planning/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":240214577,"owners_count":19766263,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-09T06:26:08.416Z","updated_at":"2025-02-22T17:43:30.535Z","avatar_url":"https://github.com/UM-ARM-Lab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# gpu_voxel_planning\n\n## Installation\n\n\n1. Install [gpu-voxels](http://www.gpu-voxels.org/documentation/)\n\n   * Install Cuda Drivers (Works with Cuda 9.1, has failed with Cuda 8.0 and Cuda 10.0)\n   * Install [required libraries](http://www.gpu-voxels.org/documentation/prerequisites/)\n   * Patch the GLM visualizer (still needed as of 01/01/18)\n   * Follow the [Usage as a library](http://www.gpu-voxels.org/documentation/usage-as-a-library/) instructions and update CMAKE_PREFIX_PATH in your .bashrc file\n    \n    `export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:~/gvl`\n   \n2. Install armlab dependencies: \n\n  * arc_utilities\n  * [unknown_graph_planner](https://github.com/UM-ARM-Lab/unknown_graph_planner)\n  * [arm_pointcloud_utilities](https://github.com/UM-ARM-Lab/arm_pointcloud_utilities)\n\n\n## Running live demo\nIn different terminals run\n1. `roscore`\n2. `rviz`. Load the `.rviz` config file here\n3. Startup Real Victor\n   1. `ssh realtime`\n   2. `rcblizzard` (or source the appropriate computer for ros master), \n   3. `roslaunch gpu_voxel_models dual_arm_lcm_bridge.launch`. NOTE! This is not the standard `roslauch victor_hardware_interface dual_arm_lcm_bridge.launch`. Also note, `victor_hardware_interface/dual_arm_lcm_bridge.launch` may change. `master` of Jan 2020 works.\n4. `roslaunch gpu_voxel_planning real_victor_setup.launch`\n5. `rosrun gpu_voxel_planning live_demo`\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Fgpu_voxel_planning","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fum-arm-lab%2Fgpu_voxel_planning","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Fgpu_voxel_planning/lists"}