robot_msgs

What is this repository for?

• Robot related messages and services for control and management

To generate python LCM type definitions

cd src
lcm-gen -p ../lcmtypes/*.lcm

To generate C++ LCM type definitions

mkdir -p include/lcmtypes
cd include/lcmtypes
lcm-gen -x ../../lcmtypes/*.lcm --cpp-std=c++11

This is for consistent include style. Note that not only is include/ listed in the include dir, but also include/lcmtypes.

To create install python only library

cd src
python3 setup.py sdist bdist_wheel

This will create a file:

src/dist/robot_msgs-0.1.tar.gz

That can be pip3 installed without any other catkin dependencies.

Note on other system lcmtypes

drake comes with several bundles of lcmtypes. The headers can be found in /opt/drake/include/lcmtypes; the python class definitions can be found in e.g.

/opt/drake/lib/python3.6/site-packages/drake/lcmt_viewer_draw.py
/opt/drake/lib/python3.6/site-packages/robotlocomotion/pose_t.py