Hi, Yes, TensorRT support was removed from Chrono::Sensor. The CHANGELOG gives the reasoning directly: “The TensorRT feature was removed. With PyChrono now wrapping the Chrono::Sensor module, this feature was superfluous. Users can now transfer data to Python nodes through Chrono::ROS or directly use PyChrono.”
One clarification, because that phrasing can read like a one-to-one replacement, and it isn't quite. TensorRT let you run a neural network inside the sensor's filter graph, on the GPU, during the simulation (in-loop inference). The suggested alternatives, Chrono::ROS and PyChrono, are about getting the sensor data out of Chrono so you can process it yourself. So the practical migration is: * Before: the model ran in-simulation, on-GPU, as part of the sensor pipeline. * Now: you pull the sensor buffers into Python (PyChrono's Get*Data() / NumPy access, or over Chrono::ROS) and run your model there with your own stack (PyTorch, ONNX Runtime, or TensorRT directly). For the common use case, grab frames and run a model in your own Python code, this is actually more flexible and is probably what most people want. What you give up is the tightly-coupled, in-the-loop GPU inference that never left the simulator. If your workflow depended on that (say, high-rate closed-loop perception running inside the sim), you'll now be doing that inference out-of-loop in Python rather than inside Chrono::Sensor. However, if you think about it, in reality, this is how it happens – the sensor stream is processed elsewhere (before, you had access to privileged information). Source: CHANGELOG.md, "Chrono::Sensor features and updates" section. Dan ------------------------------------------------ Bernard A. and Frances M. Weideman Professor NVIDIA CUDA Fellow Department of Mechanical & Aerospace Engineering Department of Computer Science University of Wisconsin - Madison 4150ME, 1513 University Avenue Madison, WI 53706-1572 608 772 0914 http://sbel.wisc.edu/ http://projectchrono.org/ ------------------------------------------------ From: [email protected] <[email protected]> On Behalf Of Zero Sent: Thursday, June 11, 2026 2:50 AM To: ProjectChrono <[email protected]> Subject: [chrono] Questions regarding the TensorRT library of the Chrono::Sensor module Hello, everyone. Gentlemen! I would like to ask, has the reference to the TensorRT library been removed in the newly updated Chrono::Sensor module? And why was it removed? -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/fcc89acb-fba8-4edb-af45-a37e13528351n%40googlegroups.com<https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/fcc89acb-fba8-4edb-af45-a37e13528351n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!KAHj_TGtar7yCkshOKx__nhxRkS3LR6AeLQckBrEqvUD9Kbh5xWtn8byfyK7IXjcZuxdjd2fgws5kCQ$>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/DM8PR06MB7703DE03CED695C90C62105BB1F62%40DM8PR06MB7703.namprd06.prod.outlook.com.
