(spanish: [roθiˈnante]) ROS message reader library designed for Torero but compatible with your project.

Rocinante is a library created to gather ROS messages and adapt the received data into information readable for Torero visualization. It contains several specialized sections with their own data structure's output that can be easily used in your project, even if you are not using the Torero library. Please see the data types in each wiki section's description page.

NOTE: this library can only be compiled using catkin. You could utilize the boring traditional way (console) or the amazing QtCreator to compile with catkin. For more information about compiling with QtCreator see this link.

There is a wiki!

You should read the installation guide to setup all the necessary libraries and get Rocinante ready to run. There is also a small guide in how to get started.

There are guides for each section of the API:

• Camera reader – Reads image data (camera) from sensor_msgs::Image message.
• Free space reader – Obtains the occupancy grid matrix data from ROS messages.
• Lane reader – Obtains the lanes, lines, trajectories, etc. from ROS messages.
• Laser reader – Reads the point cloud data from LaserScans or PointCloud2.
• Object reader – Obtains the dynamic/static objects from ROS messages.
• Street reader – Reads the street information sent through ROS messages.
• Vehicle information reader – Obtains vehicle information, suchlike; Navigation, IMU, Odometry, and some extra parameters.