Auto 835 add laser retro support to rgl plugin

[ghost]

JIRA: https://dexory.atlassian.net/browse/AUTO-835

This is the API part of the code required to add the laser_retro field to the RGL plugin.

Pre-requisites

Refer to the official build instructions to build using docker. What we are trying to build is a shared library object file libRobotecGPULidar.so that will be used in the plugin.

OptiX

DOWNLOAD THE 7.2 VERSION OF OptiX, newer versions are not compatible

https://developer.nvidia.com/optix/downloads/7.2.0/linux64

A sign-up/login process is required for this. Once you have the NVIDIA-OptiX-SDK-7.2.0-linux64-x86_64.sh file you can run it to download the SDK and add the path to the env variable:

export OptiX_INSTALL_DIR=<your-OptiX-path>

Build docker

First step is clone this repo and checkout the dev branch:

git clone git@github.com:botsandus/RobotecGPULidar.git -b AUTO-835-add-laser-retro-support-to-rgl-plugin

Then, build the latest docker file. The minimal version is out-dated.

docker build . -f DockerfileLatest --tag rgl:latest

Then, from inside the repo's root directory, start the container.

docker run --net=host --gpus all -v $(pwd):/code -v ${OptiX_INSTALL_DIR}:/optix -e OptiX_INSTALL_DIR=/optix -e NVIDIA_DRIVER_CAPABILITIES=all -it rgl:minimal /bin/bash

And before trying to compile the library. We need to install the PCL library manually with,

sudo apt install libpcl-dev

This requires some interactive input with timezones.

Compile the library.

We can now compile the library by using:

./setup.bash --cmake --make -j

This should create the libRobotecGPULidar.so in the build directory.

Testing

In order to test the changes, we have to use the shared library with the Plugin. Please follow the instructions here