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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.