Test package, which uses things exported by osrf_testing_tools_cpp.

Testing tools for C++, and is used in various OSRF projects.

Commonly needed Python modules, used by Python software developed at OSRF.

The package provides GoogleTest.

The package provides GoogleMock.

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.

Messages used by py_trees_ros and some extras for the mock demos/tests.

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

Pythonic implementation of behaviour trees.

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.

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

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

Simple example system for system_modes package.

Model-based distributed configuration handling.

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

tf2_msgs

tf2_geometry_msgs

tf2_eigen

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.

This package provides a set of simple math utilities to work with angles. The utilities cover simple things like normalizing an angle and conversion between degrees and radians. But even if you're trying to calculate things like the shortest angular distance between two joint space positions of your robot, but the joint motion is constrained by joint limits, this package is what you need. The code in this package is stable and well tested. There are no plans for major changes in the near future.

Package containing tools for monitoring ROS 2 topics.

Custom messages for real-time pendulum control.

Demonstrates ROS 2's realtime capabilities with a simulated inverted pendulum.

Examples for using and configuring loggers.

Package containing demos for lifecycle implementation

Demonstrations of intra process communication.

Tools to capture and play back images to and from DDS subscriptions and publications.

dummy sensor nodes

dummy robot bringup

dummy map server node

Python nodes which were previously in the ros2/examples repository but are now just used for demo purposes.

C++ nodes which access the native handles of the rmw implemenation.

C++ nodes which were previously in the ros2/examples repository but are now just used for demo purposes.

Examples for composing multiple nodes in a single process.

The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure. To work, these tools require plugin providers to register their plugins in the package.xml of their package.

The class_loader package is a ROS-independent package for loading plugins during runtime and the foundation of the higher level ROS "pluginlib" library. class_loader utilizes the host operating system's runtime loader to open runtime libraries (e.g. .so/.dll files), introspect the library for exported plugin classes, and allows users to instantiate objects of these exported classes without the explicit declaration (i.e. header file) for those classes.

C++ implementation of Lie Groups using Eigen.

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

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

Tools and utilities for ecl development.

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

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.

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.

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.