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The Chrono/Gazebo project that you linked is probably your best bet, combined with gazebo_ros_pkgs. Asher (author of that repo) is a grad student at the lab at University of Wisconsin Madison that founded Chrono. I haven't heard of other efforts that bridge Chrono and ROS without Gazebo.

And yes, you might want to invest in a supercomputer if you are planning on doing navigation and motion planning while running Chrono with a real-time factor of 1 :)