The spatio-temporal 3D obstacle costmap package

Zstd compression vendor package, providing a dependency for Zstd.

turtlesim is a tool made for teaching ROS and ROS packages.

tf2_tools

Small lib to transform sensor_msgs with tf. Most notably, PointCloud2

This package contains the ROS bindings for the tf2 library, for both Python and C++.

The tf2_py package

tf2_msgs

KDL binding for tf2

tf2_geometry_msgs

tf2_eigen

tf2_bullet

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

tf2 unit tests

Generic joystick teleop for twist robots.

SQLite 3 vendor package

Vendor package for concurrent queues from moodycamel

self_test

This package attempts to show the features of ROS python API step-by-step, including using messages, servers, parameters, etc. These tutorials are compatible with the nodes in roscpp_tutorial.

This package attempts to show the features of ROS step-by-step, including using messages, servers, parameters, etc.

Layer encapsulating ROS middleware to allow rosbag2 to be used with or without middleware

Tests package for rosbag2

Commonly used test helper classes and fixtures for rosbag2

ROSBag2 SQLite3 storage plugin

ROS2 independent storage format to store serialized ROS2 messages

C++ ROSBag2 client library

Package containing default plugins for format converters

Compression implementations for rosbag2 bags and messages.

Meta package for rosbag2 related packages

ros_tutorials contains packages that demonstrate various features of ROS, as well as support packages which help demonstrate those features.

Entry point for rosbag in ROS 2

Mobile Robot Programming Toolkit (MRPT) version 2.x

C++ driver library for Kobuki: Pure C++ driver library for Kobuki. This is for those who do not wish to use ROS on their systems.

Dock driving library for Kobuki. Users owning a docking station for Kobuki can use this tool to develop autonomous docking drive algorithms.

A metapackage to bring in the default packages second generation Transform Library in ros, tf2.

Provides small examples for use of the fmi_adapter package

Wraps FMUs for co-simulation

Has examples of using the tf2 Python API.

diagnostic_updater contains tools for easily updating diagnostics. it is commonly used in device drivers to keep track of the status of output topics, device status, etc.

diagnostic_aggregator

Teleoperation node using keyboard for TurtleBot3.

TurtleBot3 driver node that include diff drive controller, odometry and tf node

ROS 2 launch scripts for navigation2

This package provides four basic examples for TurtleBot3 (i.e., interactive marker, object detection, patrol and position control).

3D models of the TurtleBot3 for simulation and visualization

ROS 2 launch scripts for cartographer

ROS 2 launch scripts for starting the TurtleBot3

ROS 2 packages for TurtleBot3

Simple example system for system_modes package.

Model-based distributed configuration handling.

This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets

This rqt plugin provides a way to view and edit parameters on nodes.

DDS-XCRE agent implementation

Package containing a prototype for lifecycle implementation

Package containing tools for dynamically loadable components

Adds action APIs for C++.

The ROS client library in C++.

Parse a YAML parameter file and populate the C data structure.

Package containing a C-based lifecycle implementation

Package containing a C-based ROS action implementation

The ROS client library common implementation. This package contains an API which builds on the ROS middleware API and is optionally built upon by the other ROS client libraries.

qt_gui_py_common provides common functionality for GUI plugins written in Python.

qt_gui_cpp provides the foundation for C++-bindings for qt_gui and creates bindings for every generator available. At least one specific binding must be available in order to use C++-plugins.

Integration of the ROS package system and ROS-specific plugins for a Qt-based GUI.

qt_gui_app provides the main to start an instance of the integrated graphical user interface provided by qt_gui.

qt_gui provides the infrastructure for an integrated graphical user interface based on Qt. It is extensible with Python- and C++-based plugins (implemented in separate packages) which can contribute arbitrary widgets. It requires either PyQt or PySide bindings.

qt_dotgraph provides helpers to work with dot graphs.

ROS2 extensions and behaviours for py_trees.

Includes various supporting tools and utilities for c++ programming.

Extends c++ type traits and implements a few more to boot.

Timing utilities are very dependent on the system api provided for their use. This package provides a means for handling different timing models. Current support - posix rt : complete. - macosx : posix timers only, missing absolute timers. - win : none.

This package provides the c++ extensions for a variety of threaded programming tools. These are usually different on different platforms, so the architecture for a cross-platform framework is also implemented.

These are lightweight text streaming classes that connect to standardised ecl type devices.

Common statistical structures and algorithms for control systems.

Provides a signal/slot mechanism (in the same vein as qt sigslots, boost::signals etc for intra-process communication. These include some improvements - they do not need a preprocessor, are fully type safe, allow for simple connections via a posix style string identifier and are multithread-safe.

Metaprogramming tools move alot of runtime calculations to be shifted to compile time. This has only very elementary structures at this stage.

Contains transforms (e.g. differential drive inverse kinematics) for the various types of mobile robot platforms.

This package provides simple support to cmath, filling in holes or redefining in a c++ formulation where desirable.

Deploys various manipulation algorithms, currently just feedforward filters (interpolations).

Ecl frontend to a linear matrix package (currently eigen).

Interprocess mechanisms vary greatly across platforms - sysv, posix, win32, there are more than a few. This package provides an infrastructure to allow for developing cross platform c++ wrappers around the lower level c api's that handle these mechanisms. These make it not only easier to utilise such mechanisms, but allow it to be done consistently across platforms.

Any tools relating to mathematical geometry. Primarily featuring polynomials and interpolations.

The formatters here simply format various input types to a specified text format. They can be used with most streaming types (including both ecl and stl streams).

Cross platform filesystem utilities (until c++11 makes its way in).

Template based exceptions - these are simple and practical and avoid the proliferation of exception types. Although not syntatactically ideal, it is convenient and eminently practical.

This provides an Eigen implementation for ecl's linear algebra.

Provides an extensible and standardised framework for input-output devices.

This includes a suite of programs demo'ing various aspects of the ecl_core. It also includes various benchmarking and utility programs for use primarily with embedded systems.

A set of tools and interfaces extending the capabilities of c++ to provide a lightweight, consistent interface with a focus for control programming.

Some fast/convenient type converters, mostly for char strings or strings. These are not really fully fleshed out, alot of them could use the addition for the whole range of fundamental types (e.g. all integers, not just int, unsigned int). They will come as the need arises.

The containers included here are intended to extend the stl containers. In all cases, these implementations are designed to implement c++ conveniences and safety where speed is not sacrificed. Also includes techniques for memory debugging of common problems such as buffer overruns.

Introduces a compile time concept checking mechanism that can be used most commonly to check for required functionality when passing template arguments.

Embeds the TCLAP library inside the ecl. This is a very convenient command line parser in templatised c++.

Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation. Cyclone DDS is developed completely in the open as an Eclipse IoT project.

Wrapper around console_bridge, providing nothing but a dependency on console_bridge, on some systems. On others, it provides an ExternalProject build of console_bridge.

Stereo and single image rectification and disparity processing.

ROS2 extensions and behaviours for py_trees.

A simple viewer for ROS image topics. Includes a specialized viewer for stereo + disparity images.

Contains a node publish an image stream from single image file or avi motion file.

Single image rectification and color processing.

image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.

Contains components for processing depth images such as those produced by OpenNI camera. Functions include creating disparity images and point clouds, as well as registering (reprojecting) a depth image into another camera frame.

camera_calibration allows easy calibration of monocular or stereo cameras using a checkerboard calibration target.

urg_node

CMake macros to configure security

Command line tools for managing SROS2 keys

Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors.

The control toolbox contains modules that are useful across all controllers.

control_msgs contains base messages and actions useful for controlling robots. It provides representations for controller setpoints and joint and cartesian trajectories.

PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.

PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.

Provides conversions from PCL data types and ROS message types

rqt_graph provides a GUI plugin for visualizing the ROS computation graph.

Code shared on static and dynamic type support of rmw_gurumdds_cpp.

Implement the ROS middleware interface using GurumNetworks GurumDDS static code generation in C++.

Pythonic implementation of behaviour trees.

Provide CMake module to find GurumNetworks GurumDDS.

ROS2 Drivers for the Ouster OS-1 Lidar

Package containing various utility types and functions for C

ROS2 messages for ouster lidar driver

C++ implementation of Lie Groups using Eigen.

Point cloud utilities for Ignition simulation with ROS.

Image utilities for Ignition simulation with ROS.

Demos using Ignition Gazebo simulation with ROS.

Tools for using Ignition Gazebo simulation with ROS.

Bridge communication between ROS and Ignition Transport

Meta-package containing interfaces for using ROS 2 with

Object_recognition_msgs contains the ROS message and the actionlib definition used in object_recognition_core

Dynamic graph library

The rplidar ros package, support rplidar A2/A1 and A3/S1

Tools for setting up tracing sessions.

Testing utilities and tests for the tracetools package.

Tools for reading traces.

Launch integration for tracing.

Tracing wrapper for ROS 2.

rqt_action provides a feature to introspect all available ROS action types. By utilizing rqt_msg, the output format is unified with it and rqt_srv. Note that the actions shown on this plugin is the ones that are stored on your machine, not on the ROS core your rqt instance connects to.

The trace command for ROS 2 command line tools.

Wrapper (aka vendor package) around the FMILibrary by Modelon AB (JModelica.org)

A package containing some visualization and interaction related message definitions.

A package containing some robot trajectory message definitions.

A package containing some stereo camera related message definitions.

A package containing some standard service definitions.

A package containing some standard message definitions.

A package containing some message definitions which describe geometric shapes.

A package containing some sensor data related message and service definitions.

Code shared on static and dynamic type support of rmw_fastrtps_cpp.

Implement the ROS middleware interface using introspection type support.

Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.

Implement the ROS middleware interface using Eclipse CycloneDDS in C++.

Package containing utility code for C++.

Implementation of rcl_logging API for an spdlog backend.

An rcl logger implementation that doesn't do anything with log messages.

C API providing common interface to a shared library wrapping 3rd party loggers.

A package containing some navigation related message and service definitions.

A package containing some geometry related message definitions.

A package containing some diagnostics related message and service definitions.

common_interfaces contains messages and services that are widely used by other ROS packages.

A package containing some message definitions used in the implementation of ROS 1 actions.

Library for capturing data from the Intel(R) RealSense(TM) SR300, D400 Depth cameras and T2xx Tracking devices. This effort was initiated to better support researchers, creative coders, and app developers in domains such as robotics, virtual reality, and the internet of things. Several often-requested features of RealSense(TM); devices are implemented in this project.

Python API to access the ament resource index.

C++ API to access the ament resource index.

A terminal tool for monitor and manage the ROS2 Planning System

This package contains the Problem Expert module for the ROS2 Planning System

This package contains the PDDL-based Planner module for the ROS2 Planning System

This package contains a library for parsing PDDL domains and problems. This package derives from the work of Anders Jonsson, contained in https://github.com/wisdompoet/universal-pddl-parser.git with many modifications by Francisco Martin: * ROS2 packaging * Source code structure refactor * CMakeLists.txt for cmake compilation * Reading from String instead of files * Licensing

Messages and service files for the ROS2 Planning System

A controller/manager for the lifecycle nodes of the ROS2 Planning System

This package contains the Executor module for the ROS2 Planning System

This package contains the Domain Expert module for the ROS2 Planning System

Bringup scripts and configurations for the ROS2 Planning System

LGSVL Simulator Bridge

Point cloud conversions for Velodyne 3D LIDARs.

ROS message definitions for Velodyne 3D LIDARs.

Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message

ROS device driver for Velodyne 3D LIDARs.

Basic ROS support for the Velodyne 3D LIDARs.

The POPF package

Messages used by wiimote package.

The wiimote package allows ROS nodes to communicate with a Nintendo Wiimote and its related peripherals, including the Nunchuk, Motion Plus, and (experimentally) the Classic. The package implements a ROS node that uses Bluetooth to communicate with the Wiimote device, obtaining accelerometer and gyro data, the state of LEDs, the IR camera, rumble (vibrator), buttons, joystick, and battery state. The node additionally enables ROS nodes to control the Wiimote's LEDs and vibration for feedback to the human Wiimote operator. LEDs and vibration may be switched on and off, or made to operate according to a timed pattern.

Vendor library for SDL2.

ROS2 driver for a generic Linux joystick. Will contain a MacOS and Windows version later. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Packages for interfacing ROS2 with OpenCV, a library of programming functions for real time computer vision.

OpenCV tests for the Python and C++ implementations of CvBridge with Image message in ROS2.

`image_geometry` contains C++ and Python libraries for interpreting images geometrically. It interfaces the calibration parameters in sensor_msgs/CameraInfo messages with OpenCV functions such as image rectification, much as cv_bridge interfaces ROS sensor_msgs/Image with OpenCV data types.

Provides a portable set of time functions that are especially useful for porting other code or being wrapped by higher level c++ classes.

This avoids use of dynamic storage (malloc/new) and thread safety (mutexes) to provide a very simple sigslots implementation that can be used for *very* embedded development.

Libraries and utilities for embedded and low-level linux development.

Most implementations (windows, posix, ...) have slightly different api for low level input-output functions. These are gathered here and re-represented with a cross platform set of functions.

This library provides lean and mean error mechanisms. It includes c style error functions as well as a few useful macros. For higher level mechanisms, refer to ecl_exceptions.

These are a very simple version of some of the functions in ecl_converters suitable for firmware development. That is, there is no use of new, templates or exceptions.

Color codes for ansii consoles.

These tools inspect and describe your system with macros, types and functions.

This contains CvBridge, which converts between ROS2 Image messages and OpenCV images.

AprilTag detector library

The swri_transform_util package contains utility functions and classes for transforming between coordinate frames.

swri_system_util

swri_serial_util

This library provides functionality to simplify working with the navigation messages defined in marti_nav_msgs.