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Merged
pockerman merged 19 commits into from
Jan 31, 2026
Merged

Feat/166 add chrono diff drive robot #167

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0e175e5
Fix include headers guards. Fix linking with Chrono. Refactor examples
pockerman Jan 11, 2026
3429701
Add example_14
pockerman Jan 11, 2026
92eead3
Add robots directory
pockerman Jan 11, 2026
4ac9901
Add chrono_robots directory
pockerman Jan 11, 2026
09c3a7f
Fix bug with linking to bitrllib twice
pockerman Jan 11, 2026
b1d2910
Update JSONFileReader API. Update bitrl_diff_drive_robot (#166)
pockerman Jan 12, 2026
798cf5a
Update example 19 with chrono based ultrasound sensor model (#166)
pockerman Jan 18, 2026
ceeb38d
Add base class for sensor and sensor backend. Add implementation for …
pockerman Jan 18, 2026
9b09d9e
Add MQTT ultrasound backend
pockerman Jan 21, 2026
1ecd9b9
Add io_utils source file
pockerman Jan 21, 2026
35111db
Refactoring and bug fixes (#166)
pockerman Jan 21, 2026
dd7ac00
Update interface for JSONReader class. Update specification for bitrl…
pockerman Jan 21, 2026
d57dd98
Add SensorManager class (#166)
pockerman Jan 21, 2026
7219814
Add sensors/ directory
pockerman Jan 23, 2026
9890329
API updates
pockerman Jan 23, 2026
cf67c3f
Add chrono_robot_pose headre
pockerman Jan 24, 2026
0259b15
Various fixes for diff drive robot
pockerman Jan 24, 2026
b048e02
Add environment image
pockerman Jan 31, 2026
7915727
update example 14
pockerman Jan 31, 2026
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27 changes: 18 additions & 9 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ MESSAGE(STATUS "Using CMake ${CMAKE_VERSION}")
SET(BITRL_VERSION_MAJOR 2)
SET(BITRL_VERSION_MINOR 2)
SET(BITRL_VERSION_PATCH 4)

SET(BITRL_VERSION "${BITRL_VERSION_MAJOR}.${BITRL_VERSION_MINOR}.${BITRL_VERSION_PATCH}")
MESSAGE(STATUS "bitrllib Version ${BITRL_VERSION}")

Expand All @@ -25,37 +24,42 @@ IF(COMMAND cmake_policy)
CMAKE_POLICY(SET CMP0048 NEW)
ENDIF(COMMAND cmake_policy)

OPTION(ENABLE_TESTS OFF)

OPTION(ENABLE_WEBOTS OFF)

# configure packages
SET(ENABLE_EXAMPLES ON)
SET(ENABLE_CHRONO OFF)
SET(ENABLE_TESTS OFF)
SET(ENABLE_CHRONO ON)
SET(ENABLE_OPENCV ON)
SET(ENABLE_MQTT ON)
SET(ENABLE_DOCS ON)
SET(BITRL_LOG ON)
SET(BITRL_IRRLICHT ON)

# build options
SET(CMAKE_BUILD_TYPE "Release")
SET(CMAKE_CXX_STANDARD 20)
SET(CMAKE_CXX_STANDARD_REQUIRED True)
SET(CMAKE_LINKER_FLAGS "-pthread")
SET(ROBOTS_DATA_DIR ${PROJECT_SOURCE_DIR}/robots)
SET(SENSORS_DATA_DIR ${PROJECT_SOURCE_DIR}/sensors)

IF(CMAKE_BUILD_TYPE STREQUAL "Debug")
SET(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/install/dbg)
SET(CMAKE_CXX_FLAGS "-g -fPIC") # -Wall -Wextra")
SET(CMAKE_CXX_FLAGS "-g -fPIC -DBOOST_LOG_DYN_LINK") # -Wall -Wextra")
SET(BITRL_DEBUG ON)

ELSE(CMAKE_BUILD_TYPE STREQUAL "Release")
SET(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/install/opt)
SET(CMAKE_CXX_FLAGS "-O2 -fPIC")
SET(CMAKE_CXX_FLAGS "-O2 -fPIC -DBOOST_LOG_DYN_LINK")
SET(BITRL_DEBUG OFF)
ENDIF()

# Find packages that we need
FIND_PACKAGE(Boost 1.74.0 REQUIRED)
FIND_PACKAGE(BLAS REQUIRED)
FIND_PACKAGE(Eigen3 REQUIRED)
#FIND_PACKAGE(libirrlicht-dev REQUIRED)

IF(ENABLE_MQTT)
FIND_PACKAGE(PahoMqttCpp REQUIRED)
Expand All @@ -70,6 +74,7 @@ ENDIF()
IF(Boost_FOUND)
MESSAGE( STATUS "Found needed Boost C++ library.")
SET(Boost_USE_SHARED_LIBS ON)
SET(Boost_USE_STATIC_LIBS ON)
ELSE()
MESSAGE( FATAL_ERROR "Boost C++ library is required but not found.")
ENDIF()
Expand Down Expand Up @@ -102,7 +107,7 @@ ENDIF()

IF(ENABLE_CHRONO)

FIND_PACKAGE(Chrono REQUIRED)
FIND_PACKAGE(Chrono REQUIRED COMPONENTS Irrlicht)
IF (NOT Chrono_FOUND)
MESSAGE("Could not find Chrono or one of its required modules")
RETURN()
Expand All @@ -113,8 +118,10 @@ IF(ENABLE_CHRONO)

# Manually set this as for some reason it does not work
# otherwise
INCLUDE_DIRECTORIES(/usr/include/irrlicht)
INCLUDE_DIRECTORIES(/usr/local/include/chrono_thirdparty/HACD)
INCLUDE_DIRECTORIES(/usr/local/include/chrono/collision/bullet)

LINK_DIRECTORIES(/usr/local/lib)
ENDIF()

Expand All @@ -137,8 +144,9 @@ INCLUDE_DIRECTORIES(src/)

FILE(GLOB SRCS src/bitrl/*.cpp
src/bitrl/network/*.cpp
src/bitrl/sensors/*cpp
src/bitrl/sensors/messages/*cpp
src/bitrl/sensors/*.cpp
src/bitrl/sensors/messages/*.cpp
src/bitrl/sensors/backends/*.cpp
src/bitrl/envs/*.cpp
src/bitrl/envs/gymnasium/*.cpp
src/bitrl/envs/gymnasium/toy_text/*.cpp
Expand All @@ -152,6 +160,7 @@ FILE(GLOB SRCS src/bitrl/*.cpp
src/bitrl/envs/gymnasium/box2d/*.cpp
src/bitrl/boards/arduino/*.cpp
src/bitrl/rigid_bodies/*.cpp
src/bitrl/rigid_bodies/chrono_robots/*.cpp
src/bitrl/rigid_bodies/webots_robots/*.cpp
src/bitrl/dynamics/*.cpp
src/bitrl/utils/*.cpp
Expand Down
13 changes: 11 additions & 2 deletions config.h.in
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@@ -1,9 +1,18 @@
#ifndef GYMFCPP_CONFIG_H
#define GYMFCPP_CONFIG_H
#ifndef BITRL_CONFIG_H
#define BITRL_CONFIG_H

/*Path to robots description*/
#cmakedefine ROBOTS_DATA_DIR "@ROBOTS_DATA_DIR@"

/*Path to sensors */
#cmakedefine SENSORS_DATA_DIR "@SENSORS_DATA_DIR@"

/*DEBUG*/
#cmakedefine BITRL_DEBUG

/*Flag indicating that the library should log various messages*/
#cmakedefine BITRL_LOG

/*Use Webots*/
#cmakedefine BITRL_WEBOTS

Expand Down
21 changes: 12 additions & 9 deletions examples/CMakeLists.txt
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Expand Up @@ -35,22 +35,25 @@ ADD_SUBDIRECTORY(example_9)
ADD_SUBDIRECTORY(example_10)
ADD_SUBDIRECTORY(example_11)
ADD_SUBDIRECTORY(example_12)
ADD_SUBDIRECTORY(arduino)
ADD_SUBDIRECTORY(arduino_wifi)
ADD_SUBDIRECTORY(example_14)
ADD_SUBDIRECTORY(example_15)
ADD_SUBDIRECTORY(example_16)

IF(BITRL_MQTT)
ADD_SUBDIRECTORY(mqtt_exe_1)
ADD_SUBDIRECTORY(mqtt_exe_3)
ADD_SUBDIRECTORY(example_17)
ADD_SUBDIRECTORY(example_20)

# Need both OpenCV and MQTT
IF(BITRL_OPENCV)
ADD_SUBDIRECTORY(mqtt_exe_2)
ADD_SUBDIRECTORY(example_18)
ENDIF ()
ENDIF()

IF(BITRL_CHRONO)
ADD_SUBDIRECTORY(example_19)
ENDIF ()


IF(BITRL_WEBOTS)
ADD_SUBDIRECTORY(webots/world_1)
ENDIF()

#IF(BITRL_CHRONO)
# ADD_SUBDIRECTORY(chrono_examples/chrono_exe_1)
#ENDIF()
8 changes: 4 additions & 4 deletions examples/example_1/CMakeLists.txt
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Expand Up @@ -5,18 +5,18 @@ SET(SOURCE ${EXECUTABLE}.cpp)

ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})

TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib pthread boost_log)

IF(BITRL_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE ${BITRL_CHRONO_TARGETS})
IF(ENABLE_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE Chrono::Chrono_core)
ENDIF ()

IF(BITRL_WEBOTS)
TARGET_LINK_LIBRARIES(${EXECUTABLE} CppController)
ENDIF()

IF(BITRL_MQTT)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib paho-mqttpp3 paho-mqtt3as)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE paho-mqttpp3 paho-mqtt3as)
ENDIF ()

IF(BITRL_OPENCV)
Expand Down
9 changes: 5 additions & 4 deletions examples/example_10/CMakeLists.txt
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Expand Up @@ -4,18 +4,19 @@ SET(EXECUTABLE example_10)
SET(SOURCE ${EXECUTABLE}.cpp)

ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib)

IF(BITRL_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE ${BITRL_CHRONO_TARGETS})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib pthread boost_log)

IF(ENABLE_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE Chrono::Chrono_core)
ENDIF ()

IF(BITRL_WEBOTS)
TARGET_LINK_LIBRARIES(${EXECUTABLE} CppController)
ENDIF()

IF(BITRL_MQTT)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib paho-mqttpp3 paho-mqtt3as)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE paho-mqttpp3 paho-mqtt3as)
ENDIF ()

IF(BITRL_OPENCV)
Expand Down
9 changes: 5 additions & 4 deletions examples/example_11/CMakeLists.txt
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Expand Up @@ -4,18 +4,19 @@ SET(EXECUTABLE example_11)
SET(SOURCE ${EXECUTABLE}.cpp)

ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib)

IF(BITRL_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE ${BITRL_CHRONO_TARGETS})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib pthread boost_log)

IF(ENABLE_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE Chrono::Chrono_core)
ENDIF ()

IF(BITRL_WEBOTS)
TARGET_LINK_LIBRARIES(${EXECUTABLE} CppController)
ENDIF()

IF(BITRL_MQTT)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib paho-mqttpp3 paho-mqtt3as)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE paho-mqttpp3 paho-mqtt3as)
ENDIF ()

IF(BITRL_OPENCV)
Expand Down
10 changes: 6 additions & 4 deletions examples/example_12/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,18 +4,20 @@ SET(EXECUTABLE example_12)
SET(SOURCE ${EXECUTABLE}.cpp)

ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib)

IF(BITRL_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE ${BITRL_CHRONO_TARGETS})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib pthread boost_log)

IF(ENABLE_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE Chrono::Chrono_core)
ENDIF ()


IF(BITRL_WEBOTS)
TARGET_LINK_LIBRARIES(${EXECUTABLE} CppController)
ENDIF()

IF(BITRL_MQTT)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib paho-mqttpp3 paho-mqtt3as)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE paho-mqttpp3 paho-mqtt3as)
ENDIF ()

IF(BITRL_OPENCV)
Expand Down
9 changes: 5 additions & 4 deletions examples/example_13/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,18 +4,19 @@ SET(EXECUTABLE example_13)
SET(SOURCE ${EXECUTABLE}.cpp)

ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib)

IF(BITRL_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE ${BITRL_CHRONO_TARGETS})
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib pthread boost_log)

IF(ENABLE_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE Chrono::Chrono_core)
ENDIF ()

IF(BITRL_WEBOTS)
TARGET_LINK_LIBRARIES(${EXECUTABLE} CppController)
ENDIF()

IF(BITRL_MQTT)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib paho-mqttpp3 paho-mqtt3as)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE paho-mqttpp3 paho-mqtt3as)
ENDIF ()

IF(BITRL_OPENCV)
Expand Down
24 changes: 24 additions & 0 deletions examples/example_14/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,24 @@
cmake_minimum_required(VERSION 3.6 FATAL_ERROR)

SET(EXECUTABLE example_14)
SET(SOURCE ${EXECUTABLE}.cpp)

ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
add_compile_definitions(IRRLICHT_NO_XML)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE bitrllib pthread boost_log)

IF(ENABLE_CHRONO)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE Chrono::Chrono_core Chrono::Chrono_irrlicht)
ENDIF ()

IF(BITRL_WEBOTS)
TARGET_LINK_LIBRARIES(${EXECUTABLE} CppController)
ENDIF()

IF(BITRL_MQTT)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE paho-mqttpp3 paho-mqtt3as)
ENDIF ()

IF(BITRL_OPENCV)
TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE ${OpenCV_LIBS})
ENDIF ()
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