Robot Operating System 2.0
Set of software libraries and tools that help you build robot apps.
Contents
- Data collection
- Demonstrations
- Examples
- Benchmarking
- Containerization
- Networking
- Application layer
- Middleware
- "System" bindings
- Client libraries
- Driver layer
- Build system (ROS2)
- IDL generators
- Client libraries common
- RMW (ROS middleware)
- DDS communication mechanism implementations
- Build system (Linux)
Packages
Data collection
Demonstrations
Examples
Benchmarking
Containerization
Docker-related material to setup, configure and develop with micro-ROS hardware.
Cross compile ROS and ROS 2 workspaces to non-native architectures and generate corresponding Docker images.
URDF (U-Robot Description Format) library which provides core data structures and a simple XML parser
This is a central repository for tools, tutorials, resources, and documentation for robotic simulation in Unity.
Application layer
ros2control is a proof of concept on how new features within ROS 2 can be elaborated and used in the context of robot control (ros2controllers).
Real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS.
ROS2 package of 3D lidar slam using ndt/gicp registration and pose-optimization.
ROS2 package of tightly-coupled lidar inertial ndt/gicp slam referenced from LIO-SAM.
ROS2 stack for mapping with OctoMap. Port of the ROS1 octomap_mapping package.
Forked version of the original ROS1 Diagnostics for ROS 2 (currently diagnostics_updater only).
Forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.
A set of packages which contain common interface files (.msg and .srv).
Object Analytics (OA) is ROS2 wrapper for realtime object detection, localization and tracking.
ROS2 wrapper for Movidius Neural Compute Stick (NCS) Neuronal Compute API.
Addressing moving objects based on messages generated by Object Analytics ros2objectanalytics.
ROS2 wrapper for CV API of OpenVINO (human vision emulation).
ros2messagefilters blends various messages based on the conditions that filter needs to met and derives from ROS2 porting of ROS message_filters.
Extension of ros2_pytorch for CUDA devices with containerization.
Package that accelerates training and deployment of Computer Vision models for industries.
Middleware
Micro XRCE-DDS Agent acts as a server between DDS Network and Micro XRCE-DDS Clients.
Micro XRCE-DDS implements a client-server protocol to enable resource-constrained devices (clients) to take part in DDS communications.
"System" bindings
This project enables ROS2 to run on microcontrollers using the RIOT Operating System. riot-ros2
ROS2 Integration and Routing which provides a complete tool to integrate other technologies with ROS2 easily and enable ROS2 on WAN/Internet.
The System Of Systems Synthesizer is used to integrate ROS2 via ROS2-Integration-Service with other (communication) systems.
Client libraries
Driver layer
ros2 interface package with xmlrpc, to communicate with a Sesto server using Sesto API.
Joystick driver for ROS2, support all platforms: Linux, macOS, Windows.
ROS2 integrable tool focused in the intercommunication between ROS2 and FIWARE.
Build system (ROS2)
IDL generators
Client libraries common
RMW (ROS middleware)
Implement the ROS middleware interface using RTI Connext static code generation in C++.
Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.
Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe.