Torch7/lua wrapper of roscpp via ffi. It offers dynamic serialization of ROS message without requiring pre-generated message classes.
- dynamic interpretation of ROS messages specifications (MsgSpec)
- serialization/deserialization of ROS messages
- representation of certain array types (byte, char, short, int, long, float, double) in messages as torch.Tensors
- publishing and subscribing to ROS topics
- basic parameter server support (NodeHandle:getParam*())
- basic ROS time support
- basic ROS-console/logging support (e.g. ros.WARN(), ros.INFO() etc.)
- service calls (advertiseService & serviceClient)
- ActionLib (ActionClient/ActionServer & SimpleActionClient/SimpleActionServer)
- TF library (Transform, StampedTransform, Quaternion, TransformListener, TransformBroadcaster)
- wrappers for basic std::string, std::vector<std::string>
- C++ exception handling/translation to lua
Currently ony little-endian systems are supported.
This project uses fragments of roslua which was developed by Tim Niemueller @timn.