Launch files for RMF demos using the Gazebo simulator

Fleet adapters for interfacing with RMF Demos robots with a fleet manager via REST API

Resource pack for RMF dashboard

Nodes for bridging between different communication stacks

Models and other media used for RMF demos

Common launch files for RMF demos

Message definitions for aruco_opencv package.

ArUco marker detection using aruco module from OpenCV libraries.

Provides a mechanism to make trees of lifecycle nodes to propagate state changes

C++ library for SE(2)/SE(3) pose composition operations with uncertainty

The microstrain_inertial_rqt package provides several RQT widgets to view the status of Microstrain devices

A package that contains ROS message corresponding to microstrain message types.

Simple examples using the microstrain_inertial_driver for MicroStrain sensors.

The ros_mscl package provides a driver for the LORD/Microstrain inertial products.

URDF and stl files for MicroStrain sensors.

gtsam

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.

RViz plugin for ROS 2 messages based on ETSI ITS messages

Conversion functions for converting ROS primitives to and from ASN.1-encoded primitives

ROS messages and utility functions for ETSI ITS messages

ROS messages for ETSI ITS messages

ROS support for ETSI ITS messages

ROS messages for ETSI ITS DENM

Conversion functions for converting ROS messages to and from ASN.1-encoded ETSI ITS DENMs

C++ compatible C source code for ETSI ITS DENMs generated from ASN.1 using asn1c

Converts ROS messages to and from ASN.1-encoded ETSI ITS messages

C++ compatible C source code for ETSI ITS messages generated from ASN.1 using asn1c

ROS messages for ETSI ITS CAM

Conversion functions for converting ROS messages to and from ASN.1-encoded ETSI ITS CAMs

C++ compatible C source code for ETSI ITS CAMs generated from ASN.1 using asn1c

Messages for rclcpp_cascade_lifecycle package

The tuw_geometry package

Generic joystick teleop for twist robots.

ROS2 Driver for the SICK safetyscanners

Xacro (XML Macros) Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions.

Launch files for common URDF operations

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

A package with commonly used system utilities.

Contains nodes and utilities for serial communication in ROS.

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

A package that extends rclcpp with some commonly used functionality to reduce boilerplate code.

A package with commonly used OpenCV functionality.

A package with commonly used math utility code.

A package of commonly image manipulation utilities.

Commonly used geometry routines, implemented in a ROS friendly package.

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

Utility functions for interacting with console

Command line tools for introspecting ROS systems

Utilities for working with polygons, including triangulation

RViz visualizations for polygons

General purpose two-dimensional polygons. Formerly a part of nav_2d_msgs

Demo of polygon_rviz_plugins

Python API for point_cloud_transport

Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.

Small SLAM dataset extracts used for demos or unit tests in the rest of MOLA packages

Static reflection for enums (to string, from string, iteration) for modern C++, work with any enum type without any macro or boilerplate code

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.

An almost dependency-less library for converting between color spaces

A ROS 2 interface in the style of ROS 1 for reading and writing bag files

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.

UBLOX UBX ROS2 Msgs

UBLOX UBX Interfaces

Provides a NavSatFix node for a u-blox GPS GNSS receiver using Gen 9 UBX Protocol

Provides a ublox_gnss node for a u-blox GPS GNSS receiver using Gen 9 UBX Protocol

Provides a ublox_dgnss node for a u-blox GPS DGNSS receiver using Gen 9 UBX Protocol

Publishes RTCM ntrip messages from an external mountpoint

A ROS Driver for V4L USB Cameras

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

A package which extends 'ros_base' and includes simulation packages.

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.

A package which aggregates common perception packages.

multires_image

Common plugins for the Mapviz visualization tool

ROS interfaces used by Mapviz

mapviz

Provides a 'batteries included' experience to novice users.

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

self_test

A visualizer for trajectories in rmf schedule

A package containing RViz2 plugins for RMF

A visualizer for obstacles in RMF

A package to visualiize the navigation graphs of fleets

A package to visualize the floorplans for levels in a building

A package to visualize positions of robots from different fleets in the a building

A visualizer for doors and lifts

Package containing a single launch file to bringup various visualizations

Implementation of phase-sequence tasks for the Robotics Middleware Framework

Package for managing tasks in the Robotics Middleware Framework

diagnostics

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_common_diagnostics

diagnostic_aggregator

Functions and types for rclcpp::Parameter

Example usage of generate_parameter_library for a python module

Python to generate ROS parameter library.

Example usage of generate_parameter_library.

CMake to generate ROS parameter library.

Example usage of generate_parameter_library for a python module with cmake.

LTTng tracing provider wrapper for image_pipeline ROS 2 meta-package.

Stereo and single image rectification and disparity processing.

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.

Messages for SocketCAN

Simple wrapper around SocketCAN

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.

libpointmatcher is a modular ICP library, useful for robotics and computer vision.

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

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.

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.

Common code for working with images in ROS.

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.

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.

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

AprilTag detector library

Python helper class for the ROS 2 launch system

ROS messages for MRPT classes and objects

libnabo is a fast K Nearest Neighbour library for low-dimensional spaces.

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.

AprilTag detection node

C++ implementation of Lie Groups using Eigen.

Messages for proprietary (non-NMEA) sentences from Novatel GPS receivers.

Driver for NovAtel receivers

Transforms messages of arbitrary type to a different frame using tf2::doTransform

The robotraconteur package

ffmpeg_image_transport provides a plugin to image_transport for transparently sending an image stream encoded with ffmpeg.

The marine_sensor_msgs package, meant to contain messages for common underwater sensors (e.g., conductivity, turbidity, dissolved oxygen)

The marine_acoustic_msgs package, including messages for common underwater sensors (DVL, multibeam sonar, imaging sonar)

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Visualization plugin for several sensors.

The rc_dynamics_api provides an API for easy handling of the dynamic-state data streams provided by Roboception's stereo camera with self-localization. See http://rc-visard.com Dynamic-state estimates of the rc_visard relate to its self-localization and ego-motion estimation. These states refer to rc_visard's current pose, velocity, or acceleration and are published on demand via several data streams. For a complete list and descriptions of these dynamics states and the respective data streams please refer to rc_visard's user manual.

ROS Foxglove Bridge

Driver for the Phidgets Temperature devices

Driver for the Phidgets Spatial 3/3/3 devices

Custom ROS messages for Phidgets drivers

Driver for the Phidgets Motor devices

Driver for the Phidgets Magnetometer devices

Driver for the Phidgets InterfaceKit devices

Driver for the Phidgets high speed encoder devices

Driver for the Phidgets Gyroscope devices

API and ROS drivers for Phidgets devices

Driver for the Phidgets Digital Output devices

Driver for the Phidgets Digital Input devices

A C++ Wrapper for the Phidgets C API

Driver for the Phidgets Analog Output devices

Driver for the Phidgets Analog Input devices

Driver for the Phidgets Accelerometer devices

This package wraps the libphidget22 to use it as a ROS dependency

rqt GUI plugin to visualize dot graphs.

This package contains tools for the discovery of Roboception devices via GigE Vision.

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.

Interfaces for motion_capture_tracking package.

ROS Package for different motion capture systems, including custom rigid body tracking support

foxglove_msgs provides visualization messages that are supported by Foxglove.

Foonathan/memory vendor package for Fast-RTPS.

Utilities to use bosch_locator_bridge with Nav2

ROS interface to Rexroth ROKIT Locator

PR2 Resources used for MoveIt! testing

panda Resources used for MoveIt testing

Fanuc Resources used for MoveIt testing

Resources used for MoveIt testing

Contains boilerplate cmake script, macros and utils

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

This package provides the Ignition Math 6.x library.

This package provides the Ignition CMake 2.x library.

Python access for event_camera_msgs.

DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

ROS2 driver for the Robotiq gripper.

ROS2 driver package for the Robotiq gripper.

URDF and xacro description package for the Robotiq gripper.

Controllers for the Robotiq gripper.

mavros_msgs defines messages for

Extra nodes and plugins for

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

MAVLink communication library. This library provide unified connection handling classes and URL to connection object mapper. This library can be used in standalone programs.

ROS package for apriltag detection

Driver module between Aldebaran's NAOqiOS and ROS2. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

ROS Support Library