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LCM Message Definitions

This repository contains LCM message definitions for the Dimos project and tools to generate those language bindings.

It depends on our LCM fork for generation since we introduced some convinience changes to python message definitions.

lcmgen from our lcm fork is conviniently pulled and built by our flake.nix

Generating Bindings

Run generate.sh to regenerate all bindings:

./generate.sh

This will:

  1. Convert ROS messages to LCM definitions (from sources/ros_msgs/ to lcm_types/)
  2. Generate Python bindings (generated/python_lcm_msgs/)
  3. Generate C++ bindings (generated/cpp_lcm_msgs/)
  4. Generate C# bindings (generated/cs_lcm_msgs/)
  5. Generate Java bindings (generated/java_lcm_msgs/)
  6. Generate Typescript bindings (generated/ts_lcm_msgs/)

Directory Structure

  • sources/ - Source ROS message definitions and conversion tools
  • lcm_types/ - Generated LCM message definitions
  • generated/ - Generated language bindings

Python Package

This repo is also a Python package and you can install it via pip install dimos-lcm It is not very useful standalone and is meant to be used in conjuction with actual dimOS