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.