ros2_lua

Collection of packages that allows writing ROS2 nodes in Lua.

Features

• support for publishers and subscriptions
• support for clients and services
• support for action clients and coroutine-based services
• support for lifecycle nodes
• parameter server
• message generation

Installation

Assuming ROS2 humble installed to the standard location in Linux, run the following commands:

source /opt/ros/humble/setup.pash
mkdir -p ~/ws_lua/src && cd ws_lua/src
git clone -b humble https://github.com/mikhel1984/ros2_lua.git
cd ..
colcon build --symlink-install

ROS interfaces

Lua messages for default ROS interfaces can be generated using rcllua_std_msgs node. The list of messages is defined inside the CMakeLists file and could be edited acording the repository requirements.

Making ROS2 package in Lua

ros2_lua uses CMake functionality for all the operations with Lua nodes.

Create package

cd src
ros2 pkg create --build-type ament_cmake project_name

Lua scripts could be placed in any location inside the project directory, but it is recommended to make project_name subdirectory and keep files inside it. Later this subdirectory can be added to LUA_PATH for sharing code with other scripts and writing unit tests.

Write code

See rcllua_examples for details.

Update CMakeLists

Add dependencies.

find_package(rcllua REQUIRED)
find_package(rcllua_cmake REQUIRED

Add files for execution via ros2 run and launch files in form.

rcllua_cmake_executable(project_name/script.lua exe_name)

The library can be addedd to LUA_PATH with command

rcllua_cmake_install_lib(project_name)

If there is C/C++ Lua component inside the package, build it as a usual shared library and add to CPATH_LUA with command

rcllua_cmake_install_clib(project_name lib_name)

Unit tests

See rcllua_unit for details.

Build

Build package as usual, simlink mode is recommended.

. install/setup.bash
colcon build --symlink-install --packages-select project_name

Dependencies

• Lua 5.3+
• ROS2 Huble