onnxruntime_vendor

Vendor package for ONNX Runtime.

Downloads the official prebuilt ONNX Runtime Linux x86_64 binary at build time and exposes it as a CMake imported target (onnxruntime::onnxruntime) for use by other ROS 2 packages.

Building

colcon build --packages-select onnxruntime_vendor

ONNX Runtime is fetched automatically from GitHub releases during the build — no manual download required.

Using in another package

In your CMakeLists.txt:

find_package(onnxruntime_vendor REQUIRED)

target_link_libraries(my_target PRIVATE onnxruntime::onnxruntime)

Linking the onnxruntime::onnxruntime target brings in the headers and libonnxruntime.so automatically. Runtime discovery of the shared library is handled by an environment hook that prepends opt/onnxruntime_vendor/lib to LD_LIBRARY_PATH when the workspace is sourced, so no manual LD_LIBRARY_PATH configuration is required.

In your package.xml:

<depend>onnxruntime_vendor</depend>

The installed layout under opt/onnxruntime_vendor/ mirrors the upstream ONNX Runtime release tarball:

opt/onnxruntime_vendor/
  include/   # ONNX Runtime headers
  lib/       # libonnxruntime.so and related libraries

Licensing

This package is part of a larger project licensed under the Apache License 2.0 (see the top-level LICENSE file).

ONNX Runtime itself is developed by Microsoft Corporation and distributed under the MIT License. The prebuilt ONNX Runtime binaries and headers used by this vendor package are obtained from the official microsoft/onnxruntime GitHub releases.

For the full ONNX Runtime license text, see LICENSE-ONNXRUNTIME in this directory.

Changelog for package onnxruntime_vendor

0.1.0 (2026-06-23)

• Remove added changelog file and reset package version to 0.0.0
• Fix licensing and add ros-controls maintainers
• Fix dependencies
• Add ament_environment_hooks for LD_LIBRARY_PATH
• Add additional platforms
• Add ONNX MIT license doc
• Initial commit to add vendor package
• Initial commit
• Contributors: Julia Jia, Sai Kishor Kothakota