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Update Collaborative SLAM to support oneAPI 2025 and enhance build process
- Added a new `safe-package` target in the Makefile for memory-safe builds, recommended for systems with less than 32GB RAM. - Updated README.md to include hardware requirements and detailed build instructions for both safe and full-speed builds. - Introduced a `safe-build.sh` script to automate safe build processes and manage parallel job limits based on available memory. - Updated changelogs across various packages to reflect the transition to oneAPI 2025. - Enhanced Docker build commands to ensure compatibility with oneAPI 2025 and improved dependency management. - Added troubleshooting sections in the documentation for common issues related to SYCL library errors and memory exhaustion during builds.
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‎robotics-ai-suite/components/collaborative-slam/Makefile‎

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endif
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.DEFAULT_GOAL := help
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.PHONY: help clean clean-colcon clean-debian license-check lint lint-all lint-clang lint-python lint-yaml lint-githubactions lint-bash lint-markdown lint-json package source-package
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.PHONY: help clean clean-colcon clean-debian license-check lint lint-all lint-clang lint-python lint-yaml lint-githubactions lint-bash lint-markdown lint-json package safe-package source-package
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license-check:
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@# Help: Perform a REUSE license check using docker container https://hub.docker.com/r/fsfe/reuse
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docker run --rm --volume ${ROOT_DIR}:/data fsfe/reuse:5.0.2 lint
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safe-package:
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@# Help: Build Debian package with memory-safe parallel job limits (recommended for systems with <32GB RAM)
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@echo "Building with memory-safe limits to prevent system crashes..."
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@bash scripts/safe-build.sh $(ROS_DISTRO) $(PARALLEL_JOBS)
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package:
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@# Help: Build Debian package
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docker run --rm -t --platform linux/amd64 \
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curl https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | \
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gpg --yes --dearmor --output /usr/share/keyrings/oneapi-archive-keyring.gpg && \
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echo \"deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main\" > /etc/apt/sources.list.d/oneAPI.list && \
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apt update && apt install -y quilt equivs devscripts && \
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apt update && \
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apt install -y quilt equivs devscripts && \
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scripts/uni-build.sh $(ROS_DISTRO) && cp -r /tmp/$(ROS_DISTRO)_cslam_deb_packages/ /src/$(ROS_DISTRO)_cslam_deb_packages"
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lint:
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clean-debian:
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@# Help: Clean up Debian packaging artifacts
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rm -rf debian
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rm -f *.deb *.build *.changes *.dsc *.tar.gz *.buildinfo
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rm -f *.deb *.ddeb *.build *.changes *.dsc *.tar.gz *.buildinfo
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clean: clean-debian clean-colcon
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@# Help: Clean up all build artifacts

‎robotics-ai-suite/components/collaborative-slam/README.md‎

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We support Ubuntu 22.04 with [ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) and Ubuntu 24.04 with [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html).
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#### Hardware Requirements
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Building Collaborative SLAM packages requires significant system resources:
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- **Minimum RAM:** 16GB (use `make safe-package` for memory-constrained systems)
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- **Recommended RAM:** 32GB or more (for `make package` with full parallelism)
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- **Disk Space:** ~10GB free space for build artifacts
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- **CPU:** Multi-core processor (4+ cores recommended)
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- **oneAPI:** Intel oneAPI 2025.x (provides `libsycl.so.8`) for SYCL/GPU support
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**Important:** Building with SYCL/oneAPI support is memory-intensive. Each parallel compilation job can consume 1-2GB of RAM. On systems with limited memory, use the safe build option to prevent system crashes.
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### Build
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To build debian packages, export `ROS_DISTRO` env variable to desired platform and run `make package` command. After build process successfully finishes, built packages will be available in the `<ROS_DISTRO>_cslam_deb_packages/` directory. The following command is an example for `Humble` distribution.
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To build debian packages, export `ROS_DISTRO` env variable to desired platform and run the appropriate build command.
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#### oneAPI/SYCL Compatibility
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Collaborative SLAM requires Intel oneAPI 2025.x with SYCL 8 (`libsycl.so.8`) for GPU acceleration support. The build system pulls ORB extractor dependencies from Intel ECI/AMR repositories.
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**For local development with custom ORB extractor:**
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If you have a locally built ORB extractor with SYCL 8 support, you can use it during the build:
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```bash
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#### Safe Build (Recommended for <32GB RAM)
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For systems with limited memory (16-24GB), use the safe build option that automatically calculates optimal parallel job count:
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```bash
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ROS_DISTRO=jazzy make safe-package
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```
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This prevents memory exhaustion and system crashes by limiting parallelism based on available memory (approximately 2GB per parallel job).
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**Environment variables:**
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- `LOCAL_ORB_PATH` - Optional path to local ORB extractor packages (for SYCL 8 development)
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- `PARALLEL_JOBS` - Optional override for parallel jobs (default: auto-calculated)
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- `http_proxy`, `https_proxy`, `no_proxy` - Proxy configuration for corporate networks
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#### Full Speed Build (For =32GB RAM)
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For systems with ample memory, you can use full parallelism:
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```bash
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ROS_DISTRO=humble make package
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```
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Or manually specify parallel jobs:
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```bash
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ROS_DISTRO=jazzy PARALLEL_JOBS=8 make safe-package
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```
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**Note:** CI/CD systems typically have sufficient resources and should use `make package` after SYCL 8-compatible ORB extractor is published to repositories.
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After build process successfully finishes, built packages will be available in the `<ROS_DISTRO>_cslam_deb_packages/` directory.
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You can list all built packages:
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```bash
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source /opt/ros/jazzy/setup.bash
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```
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Finally, install the Debian packages that were built via `make package`:
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**Important:** For systems with oneAPI 2025.x, ensure you have the SYCL 8-compatible ORB extractor installed. If you built packages with `LOCAL_ORB_PATH`, install the local ORB extractor first:
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```bash
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# If using local SYCL 8 ORB extractor
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sudo dpkg -i /path/to/orb-extractor/liborb-lze_*.deb
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sudo apt --fix-broken install -y # Install any missing dependencies
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```
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Finally, install the Debian packages that were built via `make package` or `make safe-package`:
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```bash
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sudo apt update
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lint-python Run Python linter using super-linter
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lint-yaml Run YAML linter using super-linter
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package Build Debian package
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safe-package Build Debian package with memory-safe parallel job limits (recommended for systems with <32GB RAM)
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source-package Create source package tarball
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```
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will enable Fast Mapping that will result in the topics `map`(2D) and `fused_map`(3D) maps being published.
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The parameters for configuring Fast Mapping are present in the [tracker.yaml](tracker/config/tracker.yaml).
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## Troubleshooting
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### SYCL Library Errors
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If you encounter errors like:
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```bash
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error while loading shared libraries: libsycl.so.7: cannot open shared object file
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error while loading shared libraries: libSyclUtils.so: cannot open shared object file
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```
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**Cause:** Version mismatch between installed oneAPI (SYCL 8) and packages built against older oneAPI (SYCL 7).
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**Solution:**
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1. **Verify oneAPI version:**
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```bash
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ls -l /opt/intel/oneapi/redist/lib/libsycl.so*
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# Should show libsycl.so.8 for oneAPI 2025.x
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```
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2. **Check ORB extractor version:**
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```bash
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apt-cache show liborb-lze-dev | grep -E "Version|Depends.*sycl"
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# Should show version >= 2.3-2 with oneAPI 2025.x dependencies
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```
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3. **Rebuild packages:** If repositories have outdated versions, rebuild with local SYCL 8 ORB extractor:
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```bash
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export LOCAL_ORB_PATH=/path/to/sycl8-orb-extractor
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ROS_DISTRO=jazzy make safe-package
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sudo dpkg -i jazzy_cslam_deb_packages/*.deb
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```
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4. **Verify dependencies:** Check installed packages link against correct SYCL version:
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```bash
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ldd /opt/ros/jazzy/lib/univloc_tracker/univloc_tracker_ros | grep sycl
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# Should show: libsycl.so.8 => /opt/intel/oneapi/redist/lib/libsycl.so.8
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```
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### Memory Exhaustion During Build
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If your system freezes or runs out of memory during build:
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**Solution:** Use the safe build option that automatically limits parallelism:
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```bash
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ROS_DISTRO=jazzy make safe-package
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```
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Or manually specify fewer parallel jobs:
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```bash
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ROS_DISTRO=jazzy PARALLEL_JOBS=4 make safe-package
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```
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### Proxy Issues
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If builds fail with network errors behind proxy:
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**Solution:** Export proxy environment variables before building:
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## Documentation
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Comprehensive documentation on this component is available here: [dev guide](https://docs.openedgeplatform.intel.com/dev/edge-ai-suites/robotics-ai-suite/robotics/dev_guide/tutorials_amr/navigation/collaborative-slam.html).

‎robotics-ai-suite/components/collaborative-slam/docs/GPU_CM.md‎

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```
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Second, you need to follow [specific instructions](https://dgpu-docs.intel.com/installation-guides/index.html) to install necessary software packages based on the GPU type. For example, as for the above integrated Intel GPU, it belongs to the Intel Gen12/DG1 GPU. The final step is to configure the permissions for your user account, the related commands are also listed in the above link.
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### oneAPI Version Compatibility
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Collaborative SLAM requires Intel oneAPI Base Toolkit for SYCL runtime support. The application must be built against the same oneAPI version installed on your system.
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**Recommended:** Intel oneAPI 2025.x or later (provides `libsycl.so.8`)
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To check your installed oneAPI version:
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```bash
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ls -l /opt/intel/oneapi/redist/lib/libsycl.so*
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# For oneAPI 2024.x: libsycl.so.7.x.x
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# For oneAPI 2025.x: libsycl.so.8.x.x
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```
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**Important:** If you install pre-built packages that were compiled against a different oneAPI version than your system has, you will encounter runtime errors like:
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```bash
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error while loading shared libraries: libsycl.so.7: cannot open shared object file
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```
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To resolve this, **rebuild the packages** from source against your installed oneAPI version using:
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```bash
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make package ROS_DISTRO=jazzy # or humble
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```
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After successfully installing all the packages, you are able to use `sycl-ls` (comes with oneAPI package) to verify that LevelZero is ready and exposed. You should see the line below in the output.
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```bash
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## Build
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To get Collaborative SLAM with C-for-Metal GPU support, make sure that Prerequisites are done.
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If so, then simply run:
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**Important:** Building with GPU/SYCL support is extremely memory-intensive. See the [Build section in README](../README.md#build) for memory requirements. For systems with 16-24GB RAM, use:
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```sh
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ROS_DISTRO=jazzy make safe-package
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```
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For development builds with colcon:
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colcon build --cmake-args -DUSE_GPU_CM=1 -DCM_GPU_INSTALL_DIR=/path/to/orb_extractor/install/dir

‎robotics-ai-suite/components/collaborative-slam/msgs/humble/debian/changelog‎

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ros-humble-univloc-msgs (2.3-2) UNRELEASED; urgency=low
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* Update to build using oneAPI 2025
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-- ECI Maintainer <eci.maintainer@intel.com> Fri, 13 Feb 2025 19:10:0 +0200
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‎robotics-ai-suite/components/collaborative-slam/msgs/jazzy/debian/changelog‎

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‎robotics-ai-suite/components/collaborative-slam/package/metapackage/humble/debian/changelog‎

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-- ECI Maintainer <eci.maintainer@intel.com> Fri, 13 Feb 2025 19:10:0 +0200
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‎robotics-ai-suite/components/collaborative-slam/package/tutorial-2d-lidar/humble/debian/changelog‎

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‎robotics-ai-suite/components/collaborative-slam/package/tutorial-2d-lidar/jazzy/debian/changelog‎

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‎robotics-ai-suite/components/collaborative-slam/package/tutorial-all/humble/debian/changelog‎

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