The Chrono distribution contains several demos for integrating autonomy stacks with the Robot Operating System (ROS) using the ROS module. In addition to the C++ API, Chrono::ROS is also available through PyChrono via the module pychrono.ros.
Chrono::ROS exchanges information between Chrono's datatypes and ROS messages. To add custom logic, extend the base ChROSHandler with your own publishers and subscribers (see Custom Handlers).
Select ROS C++ demos:
- demo_ROS_custom_handler - writing a custom handler, alongside the built-in clock, body, and TF handlers
- demo_ROS_sensor - ROS integration with Chrono::Sensor (camera, lidar, IMU, GPS)
- demo_ROS_urdf - ROS integration with a URDF model (robot description and transforms)
- demo_ROS_vehicle - a Chrono::Vehicle driven from ROS
- demo_ROS_viper - ROS integration with the Viper rover model
- demo_ROS_two_managers - using multiple
ChROSManagerinstances - demo_ROS_hydraulic_crane - publishing telemetry from a multibody co-simulation
Select ROS Python demos:
- demo_ROS_custom_handler.py - writing a custom handler in Python
- demo_ROS_sensor.py - ROS integration with Chrono::Sensor
- demo_ROS_numpy_camera.py - publishing images from a numpy array via the buffer protocol
- demo_ROS_urdf.py - ROS integration with a URDF model
- demo_ROS_vehicle.py - a Chrono::Vehicle driven from ROS
- demo_ROS_viper.py - ROS integration with the Viper rover model
- demo_ROS_two_managers.py - using multiple
ChROSManagerinstances
In addition to the above demos, for a more complex example, please see the Autonomy Research Testbed. In this repository is an effort conducted by the Simulation Based Engineering Lab at the University of Wisconsin-Madison to develop autonomy stacks for a scale vehicle. Chrono (and Chrono::ROS) is used as the development platform for this effort.
