A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.

Helper scripts and functionality to test industrial motion generation

MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof.

A generic, simple controller manager plugin for MoveIt.

SRDF-based plugins for MoveIt Setup Assistant

MoveIt Setup Steps for Simulation

C++ Interface for defining setup steps for MoveIt Setup Assistant

Core (meta) plugins for MoveIt Setup Assistant

MoveIt Setup Steps for ROS 2 Control

Generates a configuration package that makes it easy to use MoveIt

Various specialty plugins for MoveIt Setup Assistant

Provides real-time manipulator Cartesian and joint servoing.

moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots).

Components of MoveIt connecting to MongoDB

Components of MoveIt that offer visualization

A trajectory cache for MoveIt 2 motion plans and cartesian plans.

Integration tests for moveit_ros

Components of MoveIt that offer interaction via interactive markers

Components of MoveIt that offer simpler remote (as from another ROS 2 node) interfaces to planning and execution

Planning components of MoveIt that use ROS

Components of MoveIt connecting to perception

Components of MoveIt connecting to occupancy map

The move_group node for MoveIt

ros_control controller manager interface for MoveIt

Enhanced tools for benchmarks in MoveIt

Components of MoveIt that use ROS

Mechanical, kinematic and visual description of the Pilz light weight arm PRBT.

PRBT support for Schunk pg70 gripper.

The prbt_ikfast_manipulator_plugin package

Python binding for MoveIt 2

Metapackage for MoveIt plugins.

STOMP Motion Planner for MoveIt

MoveIt interface to OMPL

The interface for using CHOMP within MoveIt

Meta package that installs all available planners for MoveIt

Package for all inverse kinematics solvers in MoveIt

Hybrid planning components of MoveIt 2

Core libraries used by MoveIt

Python library for loading moveit config parameters in launch files

Common support functionality used throughout MoveIt

Meta package that contains all essential packages of MoveIt 2

chomp_motion_planner

OMPL is a free sampling-based motion planning library.

LIDAR odometry system based on MOLA and MRPT components

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.

Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.

ROS2 driver for synchronized flir cameras using the Spinnaker SDK

ROS2 driver for flir spinnaker sdk

Python helper class for the ROS 2 launch system

This package contains generic definitions of geometric shapes and bodies.

messages related to flir camera driver

FLIR camera Description package

An extension of the Flexible Collision Library.

HTTP Streaming of ROS Image Topics in Multiple Formats

Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.

Msg and srv definitions for rc_reason_clients

Clients for interfacing with Roboception reason modules on rc_visard and rc_cube.

Example files used as tutorials for MRPT ROS packages

ROS Path Planner with A* in TP-Space Engine

Reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space)

Nodes and programs to record and play MRPT rawlogs or to transform between rosbags and rawlogs.

Maintains a local obstacle map from recent sensor readings, including optional point cloud pipeline filtering or processing.

Package for robot 2D self-localization using dynamic or static (MRPT or ROS) maps. The interface is similar to amcl (https://wiki.ros.org/amcl) but supports different particle-filter algorithms, several grid maps at different heights, range-only localization, etc.

Tools related to the Mobile Robot Programming Toolkit (MRPT). Refer to https://wiki.ros.org/mrpt_navigation for further documentation.

Message, services, and actions, for other mrpt navigation packages.

C++ library to convert between custom mrpt_msgs messages and native MRPT classes

This package provides a ROS 2 node that publishes a static map for other nodes to use it. Unlike classic ROS 1 ``map_server``, this node can publish a range of different metric maps, not only occupancy grids.

eCAL - enhanced Communication Abstraction Layer. A fast publish-subscribe cross-plattform middleware using Shared Memory and UDP.

A simple ros2 package (node) that reads an odom topic and generates the equivalent tf connection (transformation). It also provides options to override frame names, or just use the ones in the original odom topic.

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

KDL implementation of ros2_control kinematics interface

Kinematics interface for ROS 2 control

Interactive control for generic Twist-based robots using interactive markers

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

ROS messages for ETSI ITS VAM (TS)

Conversion functions for converting ROS messages to and from ASN.1-encoded ETSI ITS VAMs (TS)

C++ compatible C source code for ETSI ITS VAMs (TS) generated from ASN.1 using asn1c

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

ROS messages for ETSI ITS CPM (TS)

Conversion functions for converting ROS messages to and from ASN.1-encoded ETSI ITS CPMs (TS)

C++ compatible C source code for ETSI ITS CPMs (TS) 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 (TS)

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

C++ compatible C source code for ETSI ITS CAMs (TS) 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

A package containing scripts for demos

A package containing demo maps for rmf

Launch files for RMF demos using the Gazebo simulator

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

Nodes for bridging between different communication stacks

Models and other media used for RMF demos

Common launch files for RMF demos

A lightweight multivehicle simulation framework.

foxglove_compressed_video_transport provides a plugin to image_transport for transparently sending an image stream encoded in foxglove compressed video packets.

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

ROS2 package for converting between Twist and TwistStamped messages

Message and service definitions used in internal tests for rosbridge packages.

Rosbridge provides a JSON API to ROS functionality for non-ROS programs. There are a variety of front ends that interface with rosbridge, including a WebSocket server for web browsers to interact with. Rosbridge_suite is a meta-package containing rosbridge, various front end packages for rosbridge like a WebSocket package, and helper packages.

A WebSocket interface to rosbridge.

Package containing message files

The core rosbridge package, responsible for interpreting JSON andperforming the appropriate ROS action, like subscribe, publish, call service, and interact with params.

Provides service calls for getting ros meta-information, like list of topics, services, params, etc.

Provides service calls for getting ros meta-information, like list of topics, services, params, etc.

Simple GUI tool for testing joysticks/gamepads

The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.

An example package with MoveIt2 configurations for UR robots.

Messages around the UR Dashboard server.

Provides controllers that use the speed scaling interface of Universal Robots.

Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF

Metapackage for universal robots

transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this.

Graphical frontend for interacting with the controller manager.

The ROS 2 command line tools for ROS2 Control.

The package provides shared test resources for ros2_control stack

Metapackage for ROS2 control related packages

A package managing the websocket api endpoints in RMF system.

A package containing messages used by the RMF traffic management system.

A package managing the dispatching of tasks in RMF system.

Python bindings for the rmf_fleet_adapter

Fleet Adapter package for RMF fleets.

Node for a fixed 24-hour rotating charger usage schedule

Interface for enforcing joint limits.

Interfaces for handling of joint limits for controllers or hardware.

ros2_control hardware interface testing

ros2_control hardware interface

gtsam

Bindings between Numpy and Eigen using Boost.Python

Messages and services for the controller manager.

Description of controller_manager

Description of controller_interface

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.

Generic controller for forwarding commands.

Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering.

Controller for a tricycle drive mobile base

Package for steering robot configurations including odometry and interfaces.

Graphical frontend for interacting with joint_trajectory_controller instances.

Demo nodes for showing and testing functionalities of the ros2_control framework.

Metapackage for ros2_controllers related packages

Controller to publish readings of range sensors.

Generic controller for forwarding commands.

Broadcaster to publish cartesian states.

Controller based on PID implememenation from control_toolbox package.

Controller for executing joint-space trajectories on a group of joints

Broadcaster to publish joint state

Controller to publish readings of IMU sensors.

The gripper_controllers package

Generic controller for forwarding commands.

Controller to publish state of force-torque sensors.

Generic controller for forwarding commands.

Controller for a differential-drive mobile base.

Package to keep interface independent of the driver

Depthai ROS Monolithic node.

Depthai filters package

The depthai_examples package

The depthai_descriptions package

The depthai_bridge package

The depthai-ros package

Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.

Implementation of admittance controllers for different input and output interface.

Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.

Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.

*eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

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.

Zstd compression vendor package, providing a dependency for Zstd.

Python implementation of the URDF parser.

Message and service definitions for interacting with Universal Robots robot controllers.

SQLite 3 vendor package

Vendor package for concurrent queues from moodycamel

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.

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

Tests package for rosbag2

message definition test fixtures for rosbag2 schema recording

Commonly used test helper classes and fixtures for rosbag2

ROSBag2 SQLite3 storage plugin

rosbag2 storage plugin using the MCAP file format

Intermediate metapackage to point at default storage plugin(s) for rosbag2

ROS2 independent storage format to store serialized ROS2 messages