torch-ros

Torch7/lua wrapper of roscpp via ffi. It offers dynamic serialization of ROS message without requiring pre-generated message classes.

Currently supported feature set:

• 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>

Todo:

• C++ exception handling/translation to lua

Limitations

Currently ony little-endian systems are supported.

Based on roslua

This project uses fragments of roslua which was developed by Tim Niemueller @timn.