hyunjunekim / felicia Goto Github PK

Felicia is the chromium based robot framework like ROS, a collections of tools and libraries to help developers build fast, light and secure robot software. Currently it is under development mostly alone, I think it is still useful for like Robot-vision developer who needs to deliver camera images fast or web developers who wants to subscribe messages by WebSocket without any performance drop. I hope someday it be spread through robot industry and academia so that I want many developers to be engaged with it! If you have any trouble, leave issues or contact to me by email!

Key features:

• Cross Platform.
• Support Protobuf / ROS Message.
• Use grpc.
• Provide C++ / Python APIs.
• Provide different communication channels (TCP / UDP / Shared Memory / WebSocket / Unix Domain Socket).
• Provide some of sensor APIs.
  • Realsense D435i
  • ZED Stereo Camrea
  • RPLidar
  • UVC compatible camera
• Provide command-line-interface.
• Provide visualization tool with browser.
• Compatible with ROS1 topic / service protocol.

TODO feautures:

• Decentralize nodes.
• Support TLS communicaiton.
• Support OS-layer security.
• Provide more channels such as Bluetooth, QUIC.
• Provide more sensor APIs such as michrophone.
• Provide simulator.
• Compatible with ROS2 topic / service protocol.
• Support Raspberry Pi 4.
• Robot specific features such as SLAM.

1. Installation
2. Master Server Main
3. Command Line Interface
4. Enviornment Variables
5. Felicia-Viz
6. Examples
7. Contribution