Project Chrono

Background

Physics simulator organized as a set of modules that has a high-fidelity HMWWV model validated using Adams.

Install

Get the IRRlicht engine

Make sure that you have the required files:

sudo apt-get install cmake-extras cmake-qt-gui build-essential xorg-dev freeglut3-dev

After `downloading <http://irrlicht.sourceforge.net/?page_id=10`_ unzip:

sudo unzip /home/febbo/Downloads/irrlicht-1.8.4.zip -d /opt/irrlicht

Compile the Irrlicht Engine 1.8.4 as a shared lib:

/opt/irrlicht/irrlicht-1.8.4/source/Irrlicht$ sudo make sharedlib
/opt/irrlicht/irrlicht-1.8.4/source/Irrlicht$ sudo make install

Chrono

Install instructions

Go into /opt folder:

sudo mkdir chrono
cd chrono
sudo mkdir chrono_source
sudo mkdir chrono_build
cd chrono_source

Clone the develop branch into the /opt/chrono/chrono_source directory:

sudo git clone -b develop https://github.com/projectchrono/chrono.git
cd chrono

To configure:

sudo cmake-gui
../../_images/chrono.png

Then to build (assuming ninja was used) go into the build directory and type:

chrono/chrono_build$ sudo ninja

Then you can modify permissions if desired:

sudo chmod -R 777 chrono_build/

The rest is old….

Connecting to Gazebo

A repo was developed to connect Gazebo to Chrono.

Install

  1. Install Gazebo 7 from source

2) run:

sudo apt-get install libogre-1.9-dev

Potential Fixes

Try updating glib with:

sudo apt-get update && sudo apt-get upgrade

Issues:

Issue might look something like:

/build$ ninja
[1/2] Building CXX object demo_Steerin....dir/demo_VEH_SteeringController.cpp.o
FAILED: /usr/bin/c++      -MMD -MT demo_SteeringController/CMakeFiles/demo_SteeringController.dir/demo_VEH_SteeringController.cpp.o -MF demo_SteeringController/CMakeFiles/demo_SteeringController.dir/demo_VEH_SteeringController.cpp.o.d -o demo_SteeringController/CMakeFiles/demo_SteeringController.dir/demo_VEH_SteeringController.cpp.o -c /home/febbo/Documents/workspace/tutorials/chrono_tutorials/source/demo_SteeringController/demo_VEH_SteeringController.cpp
/home/febbo/Documents/workspace/tutorials/chrono_tutorials/source/demo_SteeringController/demo_VEH_SteeringController.cpp:22:37: fatal error: chrono/core/ChFileutils.h: No such file or directory
compilation terminated.
ninja: build stopped: subcommand failed.

https://github.com/projectchrono/chrono/issues/79

In this case, copy the Resources ==========

OLD

NOT NEEDED:

make a build directory:

src/Chrono_Gazebo/gazonoVehicle$ sudo mkdir build

set up build environment:

src/Chrono_Gazebo/gazonoVehicle$ sudo cmake CMakeLists.txt

make:

git clone git://git.code.sf.net/p/libosmscout/code libosmscout-code

TEMP

gazonoVehicle.cc

//gazebo_ros includes NOTE because ros is not in usr/include/ there are sourcing issues #include <ros/callback_queue.h> #include <ros/subscribe_options.h> #include <ros/ros.h> #include “boost/thread/mutex.hpp” #include <std_msgs/Float64.h>

Issue:

/usr/bin/ld: cannot find -lpthreads

https://stackoverflow.com/questions/30600978/cpp-usr-bin-ld-cannot-find-lnameofthelibrary