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 section of the reference manual.

Requirements

To build and run applications based on this module, the following are required:
- Linux OS (Windows OS support will be validated soon).
- Available shared memory (/dev/shm) of at least 1 GB by default.
  - The Chrono::ROS Interface attempts to reserve (not necessarily use) at least 1 GB of /dev/shm to support 4K Chrono::Sensor camera images.
  - If you are running on a memory-constrained system and do not require high-bandwidth sensor data (like 4K cameras), you can reduce the shared memory requirement by modifying src/chrono_ros/ipc/ChROSIPCChannel.h. Change the default buffer_size in CreateMainChannel from 512 * 1024 * 1024 (512 MB) to a smaller value (e.g., 16 * 1024 * 1024 for 16 MB). 16 MB is sufficient for most non-visual sensors. Chrono::ROS creates a bi-directional shared memory channel; therefore, whatever value you set above, the maximum shared memory utilization is that value * 2.
- All ROS 2 distributions and middleware variants are supported. However, since Humble is the LTS release, it has been most thoroughly tested with Chrono::ROS, so we recommend Humble for your projects. ROS 1 is not supported.
- ROS 2 Humble (see docs.ros.org for detailed installation instructions). Docker is recommended. A Docker image with Chrono::ROS built is available here.
  - When using Docker, please make sure to override the default shm_size of 64 MB; a shm_size of > 1 GB is required by default.
- 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

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).
Repeat the instructions for the full installation.
Set CH_ENABLE_MODULE_ROS to 'on' in CMake config arguments or the GUI equivalent.
As mentioned above, to enable URDF support, you must also enable the Chrono::Parsers module.
Press 'Configure' again, then 'Generate', and proceed as usual in the installation instructions.

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.