docs: use external plane_segmentation dependency

Author: Idate96

docker/Dockerfile.jazzy

@@ -49,6 +49,11 @@ COPY . /ws/src/ocs2
 # Assets used by many examples/tests.
 RUN git clone --depth 1 --branch ros2 --single-branch https://github.com/leggedrobotics/ocs2_robotic_assets.git /ws/src/ocs2_robotic_assets
 
+# Plane segmentation packages used by perceptive examples (convex_plane_decomposition*, grid_map_filters_rsl).
+RUN git clone --depth 1 --filter=blob:none --sparse --branch ros2 --single-branch https://github.com/leggedrobotics/elevation_mapping_cupy.git /ws/src/elevation_mapping_cupy && \
+    cd /ws/src/elevation_mapping_cupy && \
+    git sparse-checkout set plane_segmentation
+
 # Install ROS deps from package.xml, then build.
 RUN source /opt/ros/jazzy/setup.bash && \
     rosdep install --from-paths src --ignore-src -r -y --skip-keys pinocchio && \

docker/README.md

@@ -13,3 +13,4 @@ docker run --rm -it --net=host ocs2:jazzy
 ```
 
 Note: the Dockerfile clones `ocs2_robotic_assets` from its `ros2` branch.
+It also sparse-checkouts the `plane_segmentation/` packages from `elevation_mapping_cupy` (branch `ros2`) for the perceptive examples.

installation.md

@@ -61,11 +61,18 @@ mkdir -p ~/ocs2_ws/src
 cd ~/ocs2_ws/src
 
 # Clone OCS2 (ROS 2 Jazzy port)
-git clone --branch ros2 https://github.com/leggedrobotics/ocs2_ros2.git
+git clone --branch ros2 https://github.com/leggedrobotics/ocs2.git
 
 # Robotic assets (required by several examples/tests)
 git clone --branch ros2 https://github.com/leggedrobotics/ocs2_robotic_assets.git
 
+# Plane segmentation packages used by perceptive examples (convex_plane_decomposition*, grid_map_filters_rsl).
+# These packages live in elevation_mapping_cupy but can be fetched without the rest of the repo using sparse-checkout.
+git clone --filter=blob:none --sparse --branch ros2 https://github.com/leggedrobotics/elevation_mapping_cupy.git
+cd elevation_mapping_cupy
+git sparse-checkout set plane_segmentation
+cd ..
+
 cd ~/ocs2_ws
 source /opt/ros/jazzy/setup.bash