Compile urdf & vsg for chrono v10

[Haifei Chen]

Hello,

I'm installing chrono dependencies on Ubuntu inside WSL, using build-scripts. 

hfchen@CAS-D7KJ14J4:/mnt/c/ProjectChrono/build-scripts/linux$ ./buildURDF.sh ../../linux_dep/urdf

so URDF_INSTALL_DIR =  /mnt/c/ProjectChrono/linux_dep/urdf/

There are some errors in finding cmake configs for TinyXML2, urdfdom_headers. However, those files are already generated as expected (see the directory tree below). 

Attached is the log file for you to help me resolve this issue. Same thing happened to VSG, too.

Thank you!

Haifei

=====

ProjectChrono
├── build-scripts
│   ├── README.md
│   ├── linux
│   │   ├── buildChrono.sh
│   │   ├── buildEigen.sh
│   │   ├── buildSpectra.sh
│   │   ├── buildURDF.sh
│   │   └── buildVSG.sh
│   ├── macos
│   └── windows
└── linux_dep
    ├── spectra
    ├── vsg
    └── urdf

ProjectChrono/linux_dep/urdf/
├── CMake
│   ├── tinyxml2-config-version.cmake
│   ├── tinyxml2-config.cmake
│   ├── tinyxml2-static-targets-release.cmake
│   └── tinyxml2-static-targets.cmake
├── include
│   ├── console_bridge
│   │   ├── console.h
│   │   └── console_bridge_export.h
│   ├── tinyxml2.h
│   └── urdfdom_headers
│       ├── urdf_exception
│       │   └── exception.h
│       ├── urdf_model
│       │   ├── color.h
│       │   ├── joint.h
│       │   ├── link.h
│       │   ├── model.h
│       │   ├── pose.h
│       │   ├── twist.h
│       │   ├── types.h
│       │   └── utils.h
│       ├── urdf_sensor
│       │   ├── sensor.h
│       │   └── types.h
│       └── urdf_world
│           ├── types.h
│           └── world.h
└── lib
    ├── console_bridge
    │   └── cmake
    │       ├── console_bridge-config-version.cmake
    │       ├── console_bridge-config.cmake
    │       ├── console_bridge-targets-release.cmake
    │       └── console_bridge-targets.cmake
    ├── libconsole_bridge.so -> libconsole_bridge.so.1.0
    ├── libconsole_bridge.so.1.0
    ├── libtinyxml2.a
    ├── pkgconfig
    │   ├── console_bridge.pc
    │   ├── tinyxml2.pc
    │   └── urdfdom_headers.pc
    └── urdfdom_headers
        └── cmake
            ├── urdfdom_headers-config-version.cmake
            ├── urdfdom_headers-config.cmake
            └── urdfdom_headersExport.cmake

[Radu Serban]

Hi Haifei,

 

This is a little bit of a chicken-and-egg problem.  The easiest way to resolve it is to add to your .bashrc (or the configuration file for whatever shell you are using) something like:

 

export CMAKE_PREFIX_PATH=<urdf_install_dir>/lib/urdfdom/cmake:$CMAKE_PREFIX_PATH
export CMAKE_PREFIX_PATH=<urdf_install_dir>/lib/urdfdom_headers/cmake:$CMAKE_PREFIX_PATH
export CMAKE_PREFIX_PATH=<urdf_install_dir>/lib/console_bridge/cmake:$CMAKE_PREFIX_PATH
export CMAKE_PREFIX_PATH=<urdf_install_dir>/CMake:$CMAKE_PREFIX_PATH

 

where <urdf_install_dir> is the path to the directory in which you want the URDF dependencies installed (whatever you set for URDF_INSTALL_DIR in buildURDF.sh.

 

--Radu

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[Haifei Chen]

Hi Radu,

Thanks for the help; issue resolved. 

I have coupled chrono (rigid multibody and beam models, separately) with openfoam by linking dynamic libraries. Now you are coupling using precice, I can help test it at some point.

- Haifei