Install the ROS module

[TOC]

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

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](@ref manual_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](@ref manual_ros)) 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](@ref module_parsers_installation) 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. Repeat the instructions for the [full installation](@ref tutorial_install_chrono).

3. Set CH_ENABLE_MODULE_ROS to 'on'.

4. As mentioned above, to enable URDF support, you must also enable the [Chrono::Parsers](@ref module_parsers_installation) module.

5. Press 'Configure' again, then 'Generate', and proceed as usual in the installation instructions.

How to use it

• Consult the [reference manual](@ref manual_ros).

• Look at the [API section](@ref ros) of this module for documentation about classes and functions.

• Look at the C++ and Python source of [demos](@ref tutorial_table_of_content_chrono_ros) to learn how to use the functions of this module.