137/chrono build fix (#139)

* Updated utils.py to latest chrono versions

* Fixed docker

* Updated demo

docker/snippets/chrono.dockerfile

@@ -37,9 +37,6 @@ RUN wget -qO- https://packages.lunarg.com/lunarg-signing-key-pub.asc | tee /etc/
     apt-get update && apt-get install vulkan-sdk -y && \
     apt-get clean && apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
 
-# Temporarily change to the user so that file permissions are okay
-USER ${USERNAME}
-
 # chrono_ros_interfaces
 ARG ROS_WORKSPACE_DIR="${USERHOME}/ros_workspace"
 ARG CHRONO_ROS_INTERFACES_DIR="${ROS_WORKSPACE_DIR}/src/chrono_ros_interfaces"
@@ -57,9 +54,9 @@ ARG CHRONO_INSTALL_DIR="/opt/chrono"
 RUN git clone --recursive -b ${CHRONO_BRANCH} ${CHRONO_REPO} ${CHRONO_DIR} && \
     . ${ROS_WORKSPACE_DIR}/install/setup.sh && \
     cd ${CHRONO_DIR}/contrib/build-scripts/vsg/ && \
-    sudo bash buildVSG.sh /opt/vsg && \
+    bash buildVSG.sh /opt/vsg && \
     cd ${CHRONO_DIR}/contrib/build-scripts/urdf/ && \
-    sudo bash buildURDF.sh /opt/urdf && \
+    bash buildURDF.sh /opt/urdf && \
     mkdir ${CHRONO_DIR}/build && \
     cd ${CHRONO_DIR}/build && \
     cmake ../ -G Ninja \
@@ -88,12 +85,12 @@ RUN git clone --recursive -b ${CHRONO_BRANCH} ${CHRONO_REPO} ${CHRONO_DIR} && \
         -Dconsole_bridge_DIR=/opt/urdf/lib/console_bridge/cmake \
         -Dtinyxml2_DIR=/opt/urdf/CMake \
         && \
-    ninja && sudo sh -c ". ${ROS_WORKSPACE_DIR}/install/setup.sh; ninja install"
+    ninja && ninja install
 
-# Switch back out of the USER back to root
-USER root
+# chown the chrono dir so that we can edit it
+RUN chown -R ${USERNAME}:${USERNAME} ${CHRONO_DIR} ${ROS_WORKSPACE_DIR}
 
 # Update shell config
 RUN echo ". ${ROS_WORKSPACE_DIR}/install/setup.sh" >> ${USERSHELLPROFILE} && \
     echo "export PYTHONPATH=\$PYTHONPATH:${CHRONO_INSTALL_DIR}/share/chrono/python" >> ${USERSHELLPROFILE} && \
-    echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:${CHRONO_INSTALL_DIR}/lib" >> ${USERSHELLPROFILE}
+    echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:${CHRONO_INSTALL_DIR}/lib:/opt/urdf/lib" >> ${USERSHELLPROFILE}

sim/cpp/demo_ROS_sensor.cpp

@@ -65,7 +65,7 @@ int main(int argc, char* argv[]) {
                                                                   false, true);
     mmesh->Transform(ChVector<>(0, 0, 0), ChMatrix33<>(1));
 
-    auto trimesh_shape = chrono_types::make_shared<ChTriangleMeshShape>();
+    auto trimesh_shape = chrono_types::make_shared<ChVisualShapeTriangleMesh>();
     trimesh_shape->SetMesh(mmesh);
     trimesh_shape->SetName("Audi Chassis Mesh");
     trimesh_shape->SetMutable(false);
@@ -168,7 +168,8 @@ int main(int argc, char* argv[]) {
     // Create the publisher for the lidar
     auto lidar_2d_topic_name = "~/output/lidar_2d/data/laser_scan";
     auto lidar_2d_handler = chrono_types::make_shared<ChROSLidarHandler>(
-        lidar_2d, lidar_2d_topic_name, false);  // last parameter indicates whether to use LaserScan or PointCloud2
+        lidar_2d, lidar_2d_topic_name,
+        ChROSLidarHandlerMessageType::LASER_SCAN);  // last parameter indicates whether to use LaserScan or PointCloud2
     ros_manager->RegisterHandler(lidar_2d_handler);
 
     // Create the publisher for the accelerometer

sim/python/utils.py

@@ -32,7 +32,7 @@ def AddConesFromFile(
             pos = chrono.ChVectorD(pos_x, pos_y, pos_z)
             rot = chrono.ChQuaternionD(1, 0, 0, 0)
 
-            cone_shape = chrono.ChTriangleMeshShape()
+            cone_shape = chrono.ChVisualShapeTriangleMesh()
             if color == 0:
                 cone_shape.SetMesh(red_cone_mesh)
                 red_cone_assets.append(cone_shape)
@@ -50,7 +50,7 @@ def AddConesFromFile(
     return red_cone_assets, green_cone_assets
 
 
-def LabelAssets(assets: List[chrono.ChTriangleMeshShape], class_id: int):
+def LabelAssets(assets: List[chrono.ChVisualShapeTriangleMesh], class_id: int):
     instance_id = 0
     for cone in assets:
         instance_id += 1