ros_comm: cpp_common | message_filters | perf_roscpp | rosbag | rosbagmigration | rosconsole | roscore_migration_rules | roscpp | roscpp_serialization | roscpp_traits | rosgraph | rosgraph_msgs | roslaunch | roslisp | rosmaster | rosmsg | rosnode | rosout | rosparam | rospy | rosservice | rostest | rostime | rostopic | roswtf | std_msgs | std_srvs | topic_tools | xmlrpcpp

Package Summary

This package is a Lisp client library for ROS, the Robot Operating System.

• Author: Bhaskara Marthi, Brian Gerkey, Lorenz Mösenlechner, Thibault Kruse
• License: BSD
• Repository: ros_comm
• Source: svn https://code.ros.org/svn/ros/stacks/ros_comm/tags/electric/clients/roslisp

Overview

Roslisp is a client library for writing ROS nodes in idiomatic Common Lisp. The library is written to support ease of use, quick scripting of nodes, and interactive debugging of a running ROS system.

See the roslisp overview for a guide to roslisp's features.

Status

Roslisp is part of the stable ROS core distribution, and follows the ROS versioning policy.

Roslisp has been tested fairly extensively on Ubuntu (Jaunty or later), and to some degree on OS X 10.5.

The roadmap for future changes is here

Dependencies

ROS version

Roslisp was moved into the ROS stack as of 1.1.2, and is a part of the C-turtle distribution. The documentation here refers to that version. If you want to use it with, e.g., BoxTurtle (which corresponds to ROS 1.0.x), you will have to check out the ros_experimental repository (https://code.ros.org/svn/ros/stacks/ros_experimental). While that version is fairly robust, it is not being actively supported.

SBCL

Roslisp is based on the SBCL version of Common Lisp. To avoid a dependency on the sbcl compiler from the ROS stack, there is a dummy package roslisp_runtime in the roslisp_support stack. Packages that use roslisp should declare a dependency on the roslisp_runtime package in their manifest. This will cause the appropriate version of the sbcl lisp compiler to be pulled into the sbcl ROS package.

See also

• rosemacs contains slime_ros.el, which integrates roslisp with the popular SLIME IDE for lisp. This is the recommended way of using roslisp.

• roslisp_common contains standard libraries for using roslisp within ros.