Hallo all,
I am trying to run Chrono_ROS. While building the file
demo_ROS_custom_handler.cpp, I am getting an error. I have attached that
file along with the CMake file and error message. It seems to be related to
rclcpp and Qos. Could you help me resolve this issue? Thank you in advance.
Regards,
Madhava Pandiyan
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// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2023 projectchrono.org
// All right reserved.
//
// Use of this source code is governed by a BSD-style license that can be found
// in the LICENSE file at the top level of the distribution and at
// http://projectchrono.org/license-chrono.txt.
//
// =============================================================================
// Authors: Aaron Young
// =============================================================================
//
// Demo to show how to create a custom Chrono::ROS handler
//
// =============================================================================
#include "chrono/core/ChTypes.h"
#include "chrono/core/ChRealtimeStep.h"
#include "chrono/physics/ChSystemNSC.h"
#include "chrono/physics/ChBody.h"
#include "chrono/physics/ChBodyEasy.h"
#include "chrono/geometry/ChTriangleMeshConnected.h"
#include "chrono_ros/ChROSManager.h"
#include "chrono_ros/ChROSHandler.h"
#include "chrono_ros/handlers/ChROSClockHandler.h"
#include "chrono_ros/handlers/ChROSTFHandler.h"
#include "chrono_ros/handlers/ChROSBodyHandler.h"
#include <std_msgs/msg/int64.hpp>
#include <chrono>
using namespace chrono;
using namespace chrono::ros;
// =============================================================================
class MyCustomHandler : public ChROSHandler {
public:
MyCustomHandler(const std::string& topic) : ChROSHandler(1), m_topic(topic), m_ticker(0) {}
virtual bool Initialize(std::shared_ptr<ChROSInterface> interface) override {
std::cout << "Creating publisher for topic " << m_topic << " ..." << std::endl;
m_publisher = interface->GetNode()->create_publisher<std_msgs::msg::Int64>(m_topic, 1);
return true;
}
virtual void Tick(double time) override {
std::cout << "Publishing " << m_ticker << " ..." << std::endl;
std_msgs::msg::Int64 msg;
msg.data = m_ticker;
m_publisher->publish(msg);
m_ticker++;
}
private:
const std::string m_topic;
rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr m_publisher;
int m_ticker;
};
// =============================================================================
int main(int argc, char* argv[]) {
std::cout << "Copyright (c) 2023 projectchrono.org\nChrono version: " << CHRONO_VERSION << std::endl << std::endl;
// Set path to Chrono data directory
SetChronoDataPath(CHRONO_DATA_DIR);
// Create the system
ChSystemNSC sys;
sys.SetGravitationalAcceleration({0, 0, -9.81});
// Add a mesh object to make the scene interesting
auto phys_mat = chrono_types::make_shared<ChContactMaterialNSC>();
phys_mat->SetFriction(0.5f);
auto floor = chrono_types::make_shared<ChBodyEasyBox>(20, 20, 1, 1000, true, true, phys_mat);
floor->SetPos({0, 0, -1});
floor->SetFixed(true);
floor->SetName("floor");
sys.AddBody(floor);
auto box = chrono_types::make_shared<ChBodyEasyBox>(1, 1, 1, 1000, true, true, phys_mat);
box->SetPos({0, 0, 5});
box->SetRot(QuatFromAngleAxis(0.2, {1, 0, 0}));
box->SetName("box");
sys.AddBody(box);
// ------------
// Create ROS manager
auto ros_manager = chrono_types::make_shared<ChROSManager>();
// Create a publisher for the simulation clock
// The clock automatically publishes on every tick and on topic /clock
auto clock_handler = chrono_types::make_shared<ChROSClockHandler>();
ros_manager->RegisterHandler(clock_handler);
// Create a handler that will publish the state of the box
// It will publish at a rate of 25Hz on the topic "~/box"
auto box_handler = chrono_types::make_shared<ChROSBodyHandler>(25, box, "~/box");
ros_manager->RegisterHandler(box_handler);
// Create a TF handler that will publish the transform of the box relative to the floor
auto tf_handler = chrono_types::make_shared<ChROSTFHandler>(100);
tf_handler->AddTransform(floor, floor->GetName(), box, box->GetName());
ros_manager->RegisterHandler(tf_handler);
// Create a custom handler
auto custom_handler = chrono_types::make_shared<MyCustomHandler>("~/my_topic");
ros_manager->RegisterHandler(custom_handler);
// Finally, initialize the ros manager
ros_manager->Initialize();
// ------------
// Simulation
double time = 0;
double step_size = 2e-3;
double time_end = 1000;
// Simulation loop
ChRealtimeStepTimer realtime_timer;
while (time < time_end) {
time = sys.GetChTime();
// Updates
if (!ros_manager->Update(time, step_size))
break;
sys.DoStepDynamics(step_size);
realtime_timer.Spin(step_size);
}
return 0;
}
#--------------------------------------------------------------
#
# Example of CMake configuration file to build an external
# project depending on Chrono and on optional Chrono modules.
#
# This minimal sample project can be used as a template for a
# user project. Modify sections 1, 2, and 3 below as appropriate.
#
#--------------------------------------------------------------
cmake_minimum_required(VERSION 3.18)
cmake_policy(SET CMP0091 NEW)
#--------------------------------------------------------------
# === 1 ===
# Set the project name
#--------------------------------------------------------------
project(ros_demo)
#--------------------------------------------------------------
# === 2 ===
# Find the Chrono package and any REQUIRED or OPTIONAL modules
# by invoking the find_package function in CONFIG mode:
# find_package(Chrono
# COMPONENTS Irrlicht ...
# OPTIONAL_COMPONENTS
# CONFIG)
# The following Chrono modules can be requested (case insensitive):
# Cascade, Cosimulation, Irrlicht, OpenGL, Matlab, Multicore, Gpu,
# PardisoMKL, PardisoProject, Postprocess, Python, Vehicle,
# VehicleCosimm, VSG.
# A component can be requested either as required or optional
# (see the CMake documentation for find_package).
#
# Note that you will have to set the variable Chrono_DIR to
# specify the location of the chrono-config.cmake script, if
# it is not in its default install location.
# Chrono_DIR can be either a Chrono build tree or a Chrono install tree.
#
# The following variables are set and can be used further down:
# Chrono_FOUND
# set to true if Chrono and all required components were found
# CHRONO_C_FLAGS
# CHRONO_CXX_FLAGS
# C and C++ compilation flags
# CHRONO_INCLUDE_DIRS
# additional paths for included headers
# CHRONO_LIBRARIES
# list of required libraries (with full path)
# CHRONO_LINKER_FLAGS
# additional linker flags
# CHRONO_DATA_DIR
# path to the Chrono data make_directory
#
# In addition, for each requested component [COMPONENT], the
# following variable is set to true (ON) or false (OFF):
# CHRONO_[COMPONENT]_FOUND
#
# In this example, we only request the Irrlicht module (required)
# and, for demonstration purposes, the PardisoMKL module (optional)
#--------------------------------------------------------------
LIST(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}/../Chrono/lib")
find_package(Chrono
COMPONENTS Irrlicht ROS
OPTIONAL_COMPONENTS
CONFIG)
#--------------------------------------------------------------
# Return now if Chrono or a required component was not found.
#--------------------------------------------------------------
if (NOT Chrono_FOUND)
message("Could not find Chrono or one of its required modules")
return()
endif()
#--------------------------------------------------------------
# Important! To ensure ABI compatibility, use the same C++ standard
# as the one used to build the Chrono libraries.
#--------------------------------------------------------------
set(CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD ${CHRONO_CXX_STANDARD})
#--------------------------------------------------------------
# Enable creation of "application bundles" on MacOSX.
#--------------------------------------------------------------
# This is necessary for any Irrlicht-based project (like the example here).
# For OpenGL-based or non-graphics projects, this is optional and the block
# below can be removed (or else explcitly set CMAKE_MACOSX_BUNDLE to 'OFF').
#
# If creating application bundles, the build output will be named 'myexe.app'.
# Use the convenience script 'run_app.sh' available under
'contrib/appbundle-macosx/'
# to run:
# start_demo.sh myexe.app
if(APPLE)
set(CMAKE_MACOSX_BUNDLE ON)
endif()
#--------------------------------------------------------------
# Add path to Chrono headers and to headers of all dependencies
# of the requested modules.
#--------------------------------------------------------------
include_directories(${CHRONO_INCLUDE_DIRS})
#-----------------------------------------------------------------------------
# Fix for VS 2017 15.8 and newer to handle alignment specification with Eigen
#-----------------------------------------------------------------------------
if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
if(MSVC AND ${MSVC_VERSION} GREATER_EQUAL 1915)
add_definitions( "-D_ENABLE_EXTENDED_ALIGNED_STORAGE" )
endif()
endif()
#--------------------------------------------------------------
# Tweaks to disable some warnings with MSVC
#--------------------------------------------------------------
if(MSVC)
add_definitions("-D_CRT_SECURE_NO_DEPRECATE") # avoids deprecation warnings
add_definitions("-D_SCL_SECURE_NO_DEPRECATE") # avoids deprecation warnings
add_definitions( "-DNOMINMAX" ) # do not use MSVC's min/max
macros
endif()
#--------------------------------------------------------------
# === 3 ===
# Add the executable from your project and specify all C++
# files in your project.
#--------------------------------------------------------------
add_executable(my_demo demo_ROS_custom_handler.cpp)
#--------------------------------------------------------------
# Set properties for your executable target
#
# Note that here we define a macro CHRONO_DATA_DIR which will
# contain the path to the Chrono data directory, either in its
# source tree (if using a build version of Chrono), or in its
# install tree (if using an installed version of Chrono).
#--------------------------------------------------------------
target_compile_definitions(my_demo PUBLIC
"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\"")
target_compile_options(my_demo PUBLIC ${CHRONO_CXX_FLAGS})
target_link_options(my_demo PUBLIC ${CHRONO_LINKER_FLAGS})
#--------------------------------------------------------------
# Link to Chrono libraries and dependency libraries
#--------------------------------------------------------------
target_link_libraries(my_demo ${CHRONO_LIBRARIES})
#--------------------------------------------------------------
# === 4 (OPTIONAL) ===
#
# Optionally, add a custom command for copying all Chrono and
# dependency DLLs to the appropriate binary output folder.
# This function has effect only on Windows.
#
# DLLs will be copied into ${PROJECT_BINARY_DIR}/${config} by default
# or in ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${config} if only
CMAKE_RUNTIME_OUTPUT_DIRECTORY is set
# or to ${CMAKE_RUNTIME_OUTPUT_DIRECTORY_<CONFIG>} if the specific
CMAKE_RUNTIME_OUTPUT_DIRECTORY_<CONFIG> has been set
#--------------------------------------------------------------
# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE "<mycustompathforrelease>")
add_DLL_copy_command()
