linecode/felicia

chromium based robot framework

Felicia

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.

Prerequisites

We use bazel as a build tool. So please download it! To sync with window build, we fix the virstion to 0.25.0. On linux and mac, simply you can do like below!

./installers/install_bazel.sh

Also we need python and some dependencies such as numpy. Currently we tested on python3. Our suggestion is using pipenv.

pipenv --three
./installers/install_python_deps.sh

Or you can set environment variable PYTHON_BIN_PATH to /path/to/python/.

Lastly we need nodejs for nodejs binding. If you are working on linux or mac, then you can install it by nvm. On windows, you can install it by choco.

# Install nodejs using nvm on linux or mac
./installers/install_nodejs.sh

# install nodejs using choco on windows
choco install nodejs.install --version 10.15.3

For Windows developers

For only window developers, you have to do more. You have to download llvm from llvm.org also. Because you need clang-cl for compiler. And then to change default compiler for bazel, you have to set USE_CLANG_CL to 1 and BAZEL_LLVM to /path/to/llvm if you install llvm at not regular location. This feature is a quite new, so you need a recent released one. We tested on 0.25.0.

How to build

bazel build //felicia/...

For Macos developers

Currently, in bazel, --cpu option's default value is darwin, which doesn't work on our project(If your cpu is 64bit.). You have to manually set darwin_x86_64 on every command like below.

bazel build --cpu darwin_x86_64 //felicia/...

Also in order to leave debugging symbol on mac, you have to add config apple_debug like below. If you aren't working on mac, it's enough to set -c dbg.

bazel build --cpu darwin_x86_64 --config apple_debug //felicia/...

How to test

bazel test //felicia/...

How to set up on Docker

docker build . -t felicia -f docker/Dockerfile.ubuntu

You can validate your work on docker with below.

python3 scripts/docker_exec.py bazel build //felicia/...

For Users

Follow this link to check examples

For Developers

After you write the any BUILD, or *.bzl, don't forget to run buildifier!

bazel run //:buildifier