MAVLink message marshaling library. This package provides C-headers and C++11 library for both 1.0 and 2.0 versions of protocol. For pymavlink use separate install via rosdep (python-pymavlink).

Interface for using ROS with the

Utilities to interface with

Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components.

Message and service data structures for interacting with Gazebo from ROS2.

Provides a cmake config for the default version of Gazebo for the ROS distribution.

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

Example of using rclc_executor

The ROS client library in C.

ROS messages for Geographic Information Systems.

Geographic information metapackage. Not needed for wet packages, use only to resolve dry stack dependencies.

Python and C++ interfaces for manipulating geodetic coordinates.

Foonathan/memory vendor package for Fast-RTPS.

A package to aggregate the packages required to use publish / subscribe, services, generate messages and other core ROS concepts.

A package which extends 'ros_core' and includes other basic functionalities like tf2 and urdf.

ROS2 extensions and behaviours for py_trees.

Pythonic implementation of behaviour trees.

This library provides a standardized interface for processing data as a sequence of filters. This package contains a base class upon which to build specific implementations as well as an interface which dynamically loads filters based on runtime parameters.

A package which extends 'ros_base' and includes high level packages like vizualization tools and demos.

Tile map provides a slippy map style interface for visualizing OpenStreetMap and GoogleMap tiles. A mapviz visualization plug-in is also implemented

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.

swri_roscpp

Contains scripts that are useful as prefix commands for nodes started by roslaunch.

swri_opencv_util

swri_math_util

swri_image_util

swri_geometry_util

This package provides documentation on common interface conventions for drive-by-wire systems.

swri_console_util

Provides the prefix level environment files for ROS 2 packages.

multires_image

Common plugins for the Mapviz visualization tool

ROS interfaces used by Mapviz

mapviz

A robot-agnostic teleoperation node to convert keyboard commands to Twist messages.

Special Messages for PlotJuggler

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

ROS 2 packages for TurtleBot3 simulations

Gazebo simulation package for the TurtleBot3

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

An rqt-based tool that assists monitoring tasks for

Package containing storage and converter plugins for rosbag 1

Vendor package for rosbag_storage of ROS1

rqt_py_common provides common functionality for rqt plugins written in Python. Despite no plugin is provided, this package is part of the rqt_common_plugins repository to keep refactoring generic functionality from these common plugins into this package as easy as possible. Functionality included in this package should cover generic ROS concepts and should not introduce any special dependencies beside "ros_base".

rqt_gui_py enables GUI plugins to use the Python client library for ROS.

rqt_gui_cpp enables GUI plugins to use the C++ client library for ROS.

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

rqt is a Qt-based framework for GUI development for ROS. It consists of three parts/metapackages

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.

This stack provides Python bindings for Qt. There are two providers: pyside and pyqt. PySide2 is available under the GPL, LGPL and a commercial license. PyQt is released under the GPL. Both the bindings and tools to build bindings are included from each available provider. For PySide, it is called "Shiboken". For PyQt, this is called "SIP". Also provided is adapter code to make the user's Python code independent of which binding provider was actually used which makes it very easy to switch between these.

Javascript library for visualising behaviour trees.

The spatio-temporal 3D obstacle costmap package

ROS2 Drivers for the Ouster OS-1 Lidar

ROS2 messages for ouster lidar driver

polled_camera contains a service and C++ helper classes for implementing a polled camera driver node and requesting images from it. The package is currently for internal use as the API is still under development.

image_transport should always be used to subscribe to and publish images. It provides transparent support for transporting images in low-bandwidth compressed formats. Examples (provided by separate plugin packages) include JPEG/PNG compression and Theora streaming video.

Common code for working with images in ROS.

This package provides a C++ interface for camera calibration information. It provides CameraInfo, and handles SetCameraInfo service requests, saving and restoring the camera calibration data.

camera_calibration_parsers contains routines for reading and writing camera calibration parameters.

A ROS 2 camera driver using Video4Linux2

ROS messages for universally unique identifiers.

octovis is visualization tool for the OctoMap library based on Qt and libQGLViewer. See http://octomap.github.io for details.

The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.

The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.

TODO: Package description

ORB SLAM2 ros implementation.

ROS2 Navigation Stack

A handful of useful utility functions for nav_2d packages.

Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D.

A waypoint follower navigation server

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

TODO

This package enables Reinfocement Learning with Gazebo and Turtlebot3

TODO

Navigation 2 plugins for rviz

TODO

TODO

TODO

Messages and service files for the navigation2 stack

Refactored map server for ROS2 Navigation

A controller/manager for the lifecycle nodes of the Navigation 2 system

Package for spawning a robot model into Gazebo for navigation2

ROS2 controller (DWB) metapackage

This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius. This package also provides support for map_server based initialization of a costmap, rolling window based costmaps, and parameter based subscription to and configuration of sensor topics.

A set of headers for plugins core to the navigation2 stack

Controller action interface

Common support functionality used throughout the navigation 2 stack

TODO

Bringup scripts and configurations for the navigation2 stack

TODO

Standard implementations of the GoalChecker and TrajectoryGenerators for dwb_core

Message/Service definitions specifically for the dwb_core

The dwb_critics package

TODO

The costmap_queue package

The teleop_tools_msgs package

A set of generic teleoperation tools for any robot.

A mouse teleop tool for holonomic mobile robots.

A text-based interface to send a robot movement commands.

A (to be) generic joystick interface to control a robot

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

3D testing framework for RViz.

Example plugin for RViz - documents and tests RViz plugin development

Library which provides the 3D rendering functionality in rviz.

Wrapper around ogre3d, it provides a fixed CMake module and an ExternalProject build of ogre.

Several default plugins for rviz to cover the basic functionality.

Common rviz API, used by rviz plugins and applications.

Wrapper around assimp, providing nothing but a dependency on assimp, on some systems. On others, it provides a fixed CMake module or even an ExternalProject build of assimp.

3D visualization tool for ROS.

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

GenICam/GigE Vision Convenience Layer. This package combines the Roboception convenience layer for images with the GenICam reference implementation and a GigE Vision transport layer. It is a self contained package that permits configuration and image streaming of GenICam / GigE Vision 2.0 compatible cameras like the Roboception rc_visard. This package also provides some tools that can be called from the command line for discovering cameras, changing their configuration and streaming images. Although the tools are meant to be useful when working in a shell or in a script, their main purpose is to serve as example on how to use the API for reading and setting parameters, streaming and synchronizing images. See LICENSE.md for licensing terms of the different parts.

Provide CMake module to find Eclipse CycloneDDS.

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

Tests for the launch_testing package.

A ROS2 driver for the SICK TiM series of laser scanners. This package is based on the sick_scan-Repository.

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.

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

marti_visualization_msgs

marti_status_msgs

marti_sensor_msgs

marti_perception_msgs

marti_nav_msgs

marti_common_msgs

marti_can_msgs

YAML frontend for the launch package.

XML frontend for the launch package.

A package providing cmake functions for running launch tests from the build.

A package to create tests which involve launch files and multiple processes.

The ROS launch tool.

Universal Robot description for Webots.

Universal Robot ROS2 interface for Webots.

TIAGo robots ROS2 interface for Webots.

Services and Messages of the webots_ros2 packages.

This package allows to convert URDF and XACRO files into Webots PROTO files.

Minimal example showing how to control a robot with ROS2 in Webots.

E-puck2 driver for Webots simulated robot

Interface between Webots and ROS2 including the Webots package

Various demos of the Webots-ROS2 interface.

Core interface between Webots and ROS2

ABB robots ROS2 interface for Webots.

Interface between Webots and ROS2

Theora_image_transport provides a plugin to image_transport for transparently sending an image stream encoded with the Theora codec.

A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data. For example, for viewing a stream of images off-robot, a video codec will give much lower bandwidth and latency. For low frame rate tranport of high-definition images, you might prefer sending them as JPEG or PNG-compressed form.

Compressed_image_transport provides a plugin to image_transport for transparently sending images encoded as JPEG or PNG.

Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.

The topic command for ROS 2 command line tools.

The srv command for ROS 2 command line tools.

The service command for ROS 2 command line tools.

The run command for ROS 2 command line tools.

The pkg command for ROS 2 command line tools.

The param command for ROS 2 command line tools.

The node command for ROS 2 command line tools.

The multicast command for ROS 2 command line tools.

The msg command for ROS 2 command line tools.

Package containing fixture nodes for ros2lifecycle tests

The lifecycle command for ROS 2 command line tools.

The interface command for ROS 2 command line tools

A command line tool to check potential issues in a ROS 2 system

The component command for ROS 2 command line tools.

Framework for ROS 2 command line tools.

The action command for ROS 2 command line tools.

This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and loads the data into memory. The package:// url for ros packages is translated into a local file:// url. The resourse retriever was initially designed to load mesh files into memory, but it can be used for any type of data. The resource retriever is based on the the libcurl library.

Wrapper around libcurl, it provides a fixed CMake module and an ExternalProject build of it.

The ability to override the exported package version in the ament buildsystem.

The ability to add tests in the ament buildsystem in CMake.

The ability to add definitions, include directories and libraries of a package to a target in the ament buildsystem in CMake.

The ability to use Python in the ament buildsystem in CMake.

The ability to run Python tests using pytest in the ament buildsystem in CMake.

The ability to add nose-based tests in the ament buildsystem in CMake.

The functionality to deduplicate libraries in the ament buildsystem in CMake.

The functionality to order include directories according to a chain of prefixes in the ament buildsystem in CMake.

The ability to add gtest-based tests in the ament buildsystem in CMake.

The ability to add Google mock-based tests in the ament buildsystem in CMake.

The ability to export link flags to downstream packages in the ament buildsystem.

The ability to export libraries to downstream packages in the ament buildsystem in CMake.

The ability to export interfaces to downstream packages in the ament buildsystem in CMake.

The ability to export include directories to downstream packages in the ament buildsystem in CMake.

The ability to export dependencies to downstream packages in the ament buildsystem in CMake.

The ability to export definitions to downstream packages in the ament buildsystem.

The core of the ament buildsystem in CMake. Several subcomponents provide specific funtionalities: * environment: provide prefix-level setup files * environment_hooks: provide package-level setup files and environment hooks * index: store information in an index and retrieve them without crawling * package_templates: templates from the ament_package Python package * symlink_install: use symlinks for CMake install commands

The auto-magic functions for ease to use of the ament buildsystem in CMake.