First public release

.gitignore

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+*.jl.cov
+*.jl.*.cov
+*.jl.mem
+deps/deps.jl
+*_srv.jl
+*_msg.jl
+*_action.jl
+*.swp
+*.swo
+src/gen/*
+docs/build/*

Manifest.toml

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+# This file is machine-generated - editing it directly is not advised
+
+[[Base64]]
+uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
+
+[[BinaryProvider]]
+deps = ["Libdl", "Logging", "SHA"]
+git-tree-sha1 = "ecdec412a9abc8db54c0efc5548c64dfce072058"
+uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232"
+version = "0.5.10"
+
+[[Cxx]]
+deps = ["BinaryProvider", "Libdl", "REPL"]
+git-tree-sha1 = "71728149f62225470a4ae4260536a98a5009997c"
+uuid = "a0b5b9ef-44b7-5148-a2d1-f6db19f3c3d2"
+version = "0.4.0"
+
+[[InteractiveUtils]]
+deps = ["Markdown"]
+uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
+
+[[Libdl]]
+uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
+
+[[Logging]]
+uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
+
+[[Markdown]]
+deps = ["Base64"]
+uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
+
+[[REPL]]
+deps = ["InteractiveUtils", "Markdown", "Sockets"]
+uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
+
+[[SHA]]
+uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
+
+[[Sockets]]
+uuid = "6462fe0b-24de-5631-8697-dd941f90decc"

Project.toml

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+name = "ROS"
+uuid = "a492bfac-16cc-4d50-a8b6-f03352b6b563"
+authors = ["George Stavrinos <gstavrinos@protonmail.com>"]
+version = "0.1.0"
+
+[deps]
+Cxx = "a0b5b9ef-44b7-5148-a2d1-f6db19f3c3d2"
+Libdl = "8f399da3-3557-5675-b5ff-fb832c97cbdb"

README.md

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+![ROS.jl](docs/src/assets/logo.png)
+
+ROS.jl is a Julia wrapper of the ROS C++ client.
+
+### Requirements
+* Julia 1.3 (due to current Cxx limitations)
+
+### Installation
+```julia
+pkg> add ROS
+```
+or
+```julia
+using Pkg
+Pkg.add("ROS")
+```
+### Importing the ROS client wrapper
+```julia
+using ROS
+```
+
+### Features
+* Automatic/Dynamic Julia msg and srv type generation
+* NodeHandles
+* Publishers and Subscribers
+* Service Servers and Clients
+* Action Servers and Clients
+* ROS Package
+* ROS Time
+* TF2
+
+### Naming conventions
+* All message and service names replace the C++ namespace symbol `::` with an underscore `_`. Thus for example, `geometry_msgs::PoseStamped` would be translated in Julia to `geometry_msgs_PoseStamped`.
+* All generated ROS types have the same name as their contructor without the parentheses `()`. Thus for example, in Julia `geometry_msgs_PoseStamped()` will create a `PoseStamped` object but `geometry_msgs_PoseStamped` holds the C++ type of the `PoseStamped` object. This is useful for templated C++ ROS functions (callbacks etc).
+
+### Examples
+
+All the following examples assume that the `@genNew` or the `@updateAll` macro was called.
+
+```julia
+using ROS
+ROS.@genNew
+```
+
+## Minimum Publisher & Subscriber combination example
+```julia
+using ROS
+ROS.@include std_msgs: Float64MultiArray
+
+pub = nothing
+
+function init()
+    ROS.init("julia_pub_sub")
+    nh = ROS.NodeHandle()
+
+    global pub = ROS.advertise(nh, "test_pub", ROS.std_msgs_Float64MultiArray, 1)
+    sub = ROS.subscribe(nh, "test_sub", 1, ROS.std_msgs_Float64MultiArray, callback)
+
+    while ROS.ok()
+        ROS.spinOnce()
+    end
+end
+
+function callback(t)
+    t.data = [1,2,3,4]
+    ROS.publish(pub,t)
+end
+
+init()
+```
+Note how both the `advertise` and `subscribe` functions include the type of the message as the third parameter.
+
+## Minimum Service Client & Server combination example
+```julia
+using ROS
+ROS.@include std_srvs: SetBool
+ROS.@include roscpp_tutorials: TwoInts 
+
+srvc = nothing
+
+function init()
+    ROS.init("test_services")
+    nh = ROS.NodeHandle()
+
+    global srvc = ROS.serviceClient(nh, "add_two_ints", ROS.roscpp_tutorials_TwoInts);
+    srv = ROS.advertiseService(nh, "test_srv", ROS.std_srvs_SetBool_Request, ROS.std_srvs_SetBool_Response, srv_callback)
+    while ROS.ok()
+        ROS.spinOnce()
+    end
+end
+
+function srv_callback(req,res)
+    res.success = true
+    res.message = ":D"
+    st = ROS.roscpp_tutorials_TwoInts()
+    st.request.a = 1
+    st.request.b = 3
+    ROS.call(srvc, st)
+    return true
+end
+
+init()
+```
+Note how both the `serviceClient` and `advertiseService` functions include the type of the service as the third parameter (and the fourth parameter in the case of `advertiseService`.
+
+## Minimum Action Client & Server combination example
+```julia
+using ROS
+ROS.@include actionlib_tutorials: FibonacciAction, FibonacciFeedback, FibonacciResult, FibonacciGoal
+
+action_server = nothing
+
+function init()
+    ROS.init("test_actions")
+    nh = ROS.NodeHandle()
+
+    global action_server = ROS.actionlib.SimpleActionServer("test_action_server", ROS.actionlib_tutorials_FibonacciAction)
+    ROS.actionlib.start(action_server)
+    ROS.actionlib.registerGoalCallback(action_server, execute_cb)
+
+    action_client = ROS.actionlib.SimpleActionClient("test_action_server", ROS.actionlib_tutorials_FibonacciAction)
+    ROS.actionlib.sendGoal(action_client, ROS.actionlib_tutorials_FibonacciGoal())
+    ROS.actionlib.waitForResult(action_client, ROS.Duration(3))
+
+    action_result_called = ROS.actionlib.getResult(action_client)
+
+    while ROS.ok()
+        state = ROS.actionlib.getState(action_client)
+        println(state)
+        ROS.spinOnce()
+    end
+
+function execute_cb()
+    goal = ROS.actionlib.acceptNewGoal(action_server)
+    action_feedback = ROS.actionlib_tutorials_FibonacciFeedback()
+    f::Vector{Number} = []
+    for i in 1:100
+        push!(f,i)
+        action_feedback.sequence = f
+        ROS.actionlib.publishFeedback(action_server, action_feedback)
+    end
+    action_result = ROS.actionlib_tutorials_FibonacciResult()
+    action_result.sequence = f
+    ROS.actionlib.setSucceeded(action_server, action_result, ":)")
+end
+
+init()
+```
+
+## TF example
+```julia
+using ROS
+ROS.@include geometry_msgs: TransformStamped, PoseStamped
+
+function init()
+    ROS.init("testTF")
+    nh = ROS.NodeHandle()
+
+    b = ROS.tf.TransformBroadcaster()
+    sb = ROS.tf.StaticTransformBroadcaster()
+    bf = ROS.tf.Buffer()
+    tl = ROS.tf.TransformListener(bf)
+    ts = ROS.geometry_msgs_TransformStamped()
+    ts.header.stamp = ROS.now()
+    ts.header.frame_id = "base_link"
+    ts.child_frame_id = "gps_link"
+    ts.transform.translation.x = 2.3
+    ts.transform.translation.y = 1.6
+    ts.transform.rotation.w = 1
+    ts2 = ROS.geometry_msgs_TransformStamped()
+    ts2.header.stamp = ROS.now()
+    ts2.header.frame_id = "base_link"
+    ts2.child_frame_id = "camera_link"
+    ts2.transform.translation.x = 0.3
+    ts2.transform.translation.y = 1
+    ts2.transform.rotation.w = 1
+
+    ROS.tf.sendTransform(b, ts)
+
+    # Send multiple TFs at once
+    tss = [ts,ts2]
+    ROS.tf.sendTransform(sb, tss)
+
+    if ROS.tf.canTransform(bf, "base_link", "camera_link", ROS.Time(0), ROS.Duration(1))
+        stamped = ROS.tf.lookupTransform(bf, "base_link", "camera_link", ROS.Time(0), ROS.Duration(1))
+        println(stamped.transform.translation.x)
+        println(stamped.header.frame_id)
+
+        p = ROS.geometry_msgs_PoseStamped()
+        p.header.frame_id = "camera_link"
+        p.pose.position.x = 1
+        p.pose.position.y = 0.6
+        p.pose.orientation.w = 1
+        try
+            transformed = ROS.tf.transform(bf, p, "base_link", ROS.Time(0), "gps_link", ROS.Duration(1))
+            println(transformed.pose.position.x)
+        catch
+            println("TF Exception :(")
+        end
+    end
+end
+
+init()
+```
+Note the multiple included types using the `@include` macro.
+

docs/make.jl

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+ENV["JULIA_CXX_RTTI"]=1
+using Cxx
+push!(LOAD_PATH,"../src/")
+using Documenter, ROS
+
+makedocs(
+    modules = [ROS],
+    authors = "George Stavrinos",
+    sitename = "ROS.jl",
+    format = Documenter.HTML(prettyurls = false, footer = nothing),
+    pages = [
+        "Home" => "index.md",
+        "Features" => "features.md",
+        "Examples" => "examples.md",
+        "API" => [
+            "roscpp.md", 
+            "nodehandle.md",
+            "subscriber.md",
+            "publisher.md",
+            "serviceServer.md",
+            "serviceClient.md",
+            "time.md",
+            "package.md",
+            "actionlib.md",
+            "tf.md",
+            "typegen.md"
+        ],
+    ]
+)
+

docs/src/actionlib.md

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+# Actionlib functions
+```@index
+Pages = ["actionlib.md"]
+```
+
+```@autodocs
+Modules = [ROS, ROS.actionlib]
+Pages = ["actionlib.jl"]
+```