URDF and ROS2 support

[Riddhesh More]

I, fellow developers, 
Does Chrono support ros2 and URDF?
And is there a built-in URDF conversion utility?

Best reards,
Riddhesh More

[Dario Mangoni]

Hi Riddhesh,
while we wait for more insightful answer please double check the Changelog at the New URDF parser notice.

Regards,
Dario

[Harry ZHANG]

Hey Riddhesh,

For ROS2 support, we have it in the branch (feature/ros), which has some demos of how to use Chrono ROS with simulated vehicle, terrain, sensors, etc.. 

If you want to do quick testing you can either pull a testing docker container (https://hub.docker.com/r/uwsbel/ros/tags) or learn about Autonomy-Research-Testbed (ART) (https://github.com/uwsbel/autonomy-research-testbed) which has more support of using Chrono as autonomy simulation platform.

Best,

Harry

[Radu Serban]

Riddesh – there’s not much more to say about the URDF parser beyond starting at the Changelog entry that Dario pointed to. 

 

That describes a relatively new, fully functional Chrono URDF parser which you get by enabling the Chrono::Parsers optional module during CMake configuration of Chrono.  To get the URDF parsing capabilities, make sure to have the necessary dependencies built and installed first, as described https://api.projectchrono.org/module_parsers_installation.html. As noted there, make sure to use the provided buildURDF script to build the dependencies (I am currently using a custom version of urdfdom in a fork repository, although it looks like the upstream urdfdom has finally made the necessary changes – but as long as you use buildURDF, what sources that uses is transparent to you).

 

There are also a couple of demos that are included with the Chrono distribution that illustrate the creation of a Chrono system from an URDF description.

 

--Radu

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