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Lua Robot Control Example

Subscribes to robot odometry and publishes twist commands using LCM.

Prerequisites

  • Lua 5.4
  • LuaSocket (sudo luarocks install luasocket)
  • System dependencies: glib, cmake

Setup

./setup.sh

This will:

  1. Clone and build official LCM Lua bindings
  2. Clone dimos-lcm message definitions

Run

lua main.lua

Output

Robot control started
Subscribing to /odom, publishing to /cmd_vel
Press Ctrl+C to stop.

[pose] x=15.29 y=9.62 z=0.00 | qw=0.57
[twist] linear=0.50 angular=0.00
[pose] x=15.28 y=9.63 z=0.00 | qw=0.57
...