Contains scripts for generating Boost Python bindings for ROS (www.ros.org) message types. Uses the roslib libraries for parsing the ROS message IDL. It does two things: * Defines code generation and CMake macros for exporting any ROS package's roscpp message definitions into Boost Python. For each ROS package, these produce: * Boost Python wrappers of the autogenerated C++ message classes * Functions to convert between the Boost Python wrapped classes and the existing autogenerated ROS python message classes. * Calls those macros for a few specific ROS packages: std_msgs, geometry_msgs, sensor_msgs, nav_msgs. Example usage of the exported messages from Python (note rosh is basically an Ipython shell with ROS-related helper functions): $ rosh In [1]: roslib.load_manifest('boost_python_ros') In [2]: import geometry_msgs_boost as gmb ~/dev/world_model/boost_python_ros/munged/std_msgs_boost.py:5: RuntimeWarning: to-Python converter for std::vector<signed char, std::allocator<signed char> > already regis tered; second conversion method ignored. ~/dev/world_model/boost_python_ros/munged/geometry_msgs_boost.py:5: RuntimeWarning: to-Python converter for std::vector<double, std::allocator<double> > already registered ; second conversion method ignored. In [3]: p = gmb.cpp.Pose() In [4]: p Out[4]: <geometry_msgs_cpp.Pose object at 0x8f3766c> In [5]: p.position.x = 42 In [6]: p.orientation.w = 24 In [7]: p2 = p.to_ros() In [8]: print p2 position: x: 42.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 24.0 In [9]: p2.position.x = 1000 In [10]: p3 = p2.to_boost() In [11]: p3.position.x Out[11]: 1000.0 In [12]: p3.orientation.w Out[12]: 24.0 In [13]: