Install the ROS module

This is an optional module that enables direct integration of Chrono with the Robot Operating System (ROS).

Read the introduction to modules for a technical background on the modularity of the Chrono project.

Features

The ROS module allows users to interface a ROS 2-based autonomy stack with autonomous agents in Chrono.

For more detail, read the Chrono::ROS section of the reference manual.

Required Dependencies

• To build and run applications based on this module, the following are required:
  • ROS 2 Humble (see docs.ros.org for detailed installation instructions). Docker is recommended. A Docker image with Chrono::ROS built is available here.
    • NOTE: All ROS 2 packages required by Chrono::ROS are included in the base ROS 2 installation.

Optional Dependencies

• Some features (detailed in the reference manual) are conditionally built based on some optional dependencies. These dependencies include:
  • chrono_ros_interfaces
• To build URDF support for Chrono::ROS, you will also need to enable the Chrono::Parsers module.

NOTE: If you enable Chrono::Parsers with URDF support and you're using a ROS 2 distribution newer than Iron, ensure the urdfdom_DIR is set not to the ROS 2 installation. The ChParserURDF class uses a newer version of urdfdom.

Building instructions

1. To build Chrono::ROS, after installing the above dependencies, ensure you have sourced your ROS 2 installation (e.g. source /opt/ros/humble/setup.bash).
2. Please repeat the instructions for the full installation, but when you see the CMake window, you must do the following:
   • Set the ENABLE_MODULE_ROS as 'on', then press 'Configure' (to refresh the variable list)
   • Press 'Configure' again, then 'Generate', and proceed as usual in the installation instructions.
3. As mentioned above, to enable URDF support, you must also enable the Chrono::Parsers module.

How to use it

• Consult the reference manual.
• Look at the API section of this module for documentation about classes and functions.
• Look at the C++ and Python source of demos to learn how to use the functions of this module.