Installation¶

Ubuntu packages¶

Install Pelorus from the steado PPA for your Ubuntu LTS version and receive updates automatically. Every package comes in a plain CPU build and in CUDA and Vulkan variants.

curl -fsSL "https://ppa.steado.tech/ubuntu/key.gpg" | gpg --dearmor \
  | sudo tee /usr/share/keyrings/steado-archive-keyring.gpg >/dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/steado-archive-keyring.gpg] https://ppa.steado.tech/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/steado.list
sudo apt update

sudo apt install ros-$ROS_DISTRO-pelorus

# or with CUDA support on Humble and Jazzy
sudo apt install ros-$ROS_DISTRO-pelorus-cuda12-6
sudo apt install ros-$ROS_DISTRO-pelorus-cuda12-8
sudo apt install ros-$ROS_DISTRO-pelorus-cuda13-1

# or with CUDA support on Lyrical
sudo apt install ros-lyrical-pelorus-cuda13-4

# or with Vulkan support
sudo apt install ros-$ROS_DISTRO-pelorus-vulkan

sudo apt install pelorus

# or with CUDA support
sudo apt install pelorus-cuda12-6
sudo apt install pelorus-cuda12-8
sudo apt install pelorus-cuda13-1

# or with Vulkan support
sudo apt install pelorus-vulkan

sudo apt install pelorus-glim-odometry

# or with CUDA support
sudo apt install pelorus-glim-odometry-cuda12-6
sudo apt install pelorus-glim-odometry-cuda12-8

# or with Vulkan support
sudo apt install libpelorus-glim-odometry-vulkan

PyPI¶

Two packages are published on PyPI, and which one you want depends on what you are doing. pelorus is the library you import. pelorus-cli carries the pelorus executable. Every index below holds both, built with the acceleration backend its name says.

We recommend uv:

curl -LsSf https://astral.sh/uv/install.sh | sh

uv tool install "pelorus-cli[rerun]"

# or with CUDA support
uv tool install "pelorus-cli[rerun]" --extra-index-url https://ppa.steado.tech/whl/cu126/
uv tool install "pelorus-cli[rerun]" --extra-index-url https://ppa.steado.tech/whl/cu128/
uv tool install "pelorus-cli[rerun]" --extra-index-url https://ppa.steado.tech/whl/cu131/

# or with Vulkan support
uv tool install "pelorus-cli[rerun]" --extra-index-url https://ppa.steado.tech/whl/vulkan/

uv venv
uv pip install "pelorus[all]"

# or with CUDA support
uv pip install "pelorus[all]" --extra-index-url https://ppa.steado.tech/whl/cu126/
uv pip install "pelorus[all]" --extra-index-url https://ppa.steado.tech/whl/cu128/
uv pip install "pelorus[all]" --extra-index-url https://ppa.steado.tech/whl/cu131/

# or with Vulkan support
uv pip install "pelorus[all]" --extra-index-url https://ppa.steado.tech/whl/vulkan/

# without uv
pip install "pelorus[all]"

macOS¶

The uos Homebrew tap carries the CLI and the C library for Apple Silicon, built with Metal support. It pulls in minot, dedrunk and marina as well.

brew install uos/tools/pelorus

Arch Linux¶

The pelorus-bin package on the AUR installs the CPU build of the CLI and the C library for x86_64 and aarch64. Install it with an AUR helper of your choice.

yay -S pelorus-bin

Prebuilt archives¶

Every release on Codeberg comes with .tar.gz archives of the CLI and the C library, for amd64 and arm64 where the platform offers both.

The musl and macOS archives are mirrored at ppa.steado.tech/bin.

Vulkan from source¶

Vulkan needs some runtime dependencies to run on your GPU. A working CUDA installation, or nvidia-smi producing output, does not automatically provide Vulkan support.

sudo apt update
sudo apt install libvulkan1 vulkan-tools

When building Pelorus from source, install the development packages as well:

sudo apt install build-essential pkg-config libshaderc-dev libvulkan-dev libvulkan1 vulkan-tools

Then install a GPU driver:

• NVIDIA. Install the libnvidia-gl-<branch> package matching your installed driver. Despite the name, this package contains the Vulkan ICD, which is the vendor driver the loader uses. Compute-only installations often lack it. Check your driver branch and the available package versions first, and do not copy a version number from elsewhere:

  nvidia-smi
  apt-cache policy libnvidia-gl-570   # replace 570 with your branch
  

  See the Ubuntu package description and the NVIDIA package repository for details.

• AMD and Intel. Install mesa-vulkan-drivers.

Verifying¶

vulkaninfo --summary

Under Devices, check that deviceName names your intended GPU and that deviceType is a discrete or integrated GPU. Pelorus requires Vulkan 1.2 or newer.

If the only device is llvmpipe with PHYSICAL_DEVICE_TYPE_CPU, Vulkan is running through Mesa's Lavapipe software implementation, which is known to cause problems with Pelorus.