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.