Chrono:ROS refactor #650
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Chrono:ROS refactor #650
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…tion. Fix typos in comments
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This PR refactors the Chrono ROS interface.
Why: Since VSG has became the default visualizer there is now a symbol Collison between ROS and Chrono ("Node"), even when its only linked and not used. To solve this problem once and for all, and just overall better isolate ROS world and Chrono Simulator world for any robotics/autonomy applications, this rewrite pushed the ROS node into a sub-process and serialize Chrono data into ROS domain.
What:
Almost all end APIs are fully preserved(besides custom_handler, which has been documented in doxygen). This is reflected in the fact that demos did not get re-written.
All default handlers that was provided have been ported over.
Remove previosuly provided but now deprecated custom_handler examples.
Update c++ demos examples to use newer APIs, remove calls to deprecated Chrono APIs. Some broken demo are now working again.
Update /contrib/docker DockerFiles to use new compose syntax with GPU support, and fix a few typos that prevent docker container from building.
Update documentation to reflect this refactor.
How:
Has been tested to build in docker, and clean VM environment.
C++ and Python Demos are all tested and function and perform same as before
Known Problem:
Windows OS support is TBD, it should be possible and easy, just yet to be validates.
New Unit tests need to be added.