This repository contains the Common Lisp implementation of the Robotics Service Bus middleware.
The full documentation for RSB can be found here.
At the moment, the code is not portable and can only be used with the SBCL implementation of Common Lisp.
The only dependencies not available via Quicklisp are
- network.spread for using the Spread transport
- cl-protobuf for sending Protocol Buffers data
Load the system that provides the desired transport (or multiple):
rsb-transport-inprocess- All participant live in the same process
rsb-transport-socket- Two or a small number of processes, on the same or on multiple machines.
rsb-transport-spread- Many processes, potentially on many machines. Uses the Spread group communication framework.
Other systems provide additional converters, filters or transforms.
The examples directory has a few example.
For more information, see the full documentation mentioned above.
If you want to contribute to this project, please
- Submit your intended changes as coherent pull requests.
- Rebase onto the master branch and squash any fixups and corrections.
- Make sure the unit tests pass.
The development of this software has been supported as follows:
- The development of this software was supported by CoR-Lab, Research Institute for Cognition and Robotics Bielefeld University.
- This work was supported by the Cluster of Excellence Cognitive Interaction Technology ‘CITEC’ (EXC 277) at Bielefeld University, which is funded by the German Research Foundation (DFG).