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Overview

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.
  • 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.

Contents

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