Controllers to interact with gpios.

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.

chomp_motion_planner

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

AprilTag detector library

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.

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.

Wrapper (aka vendor package) around the FMILibrary by Modelon AB (JModelica.org)

Provides small examples for use of the fmi_adapter package

Wraps FMUs for co-simulation

Vendor pkg to install zenoh-cpp

The rslidar_sdk package

The topic 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.

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.

A package containing interface definitions for testing ros2cli.

Framework for ROS 2 command line tools.

The action command for ROS 2 command line tools.

A ROS 2 middleware implementation using zenoh-cpp

Parse a YAML parameter file and populate the C data structure.

Package containing a C-based lifecycle implementation

Package containing a C-based ROS action implementation

The ROS client library common implementation. This package contains an API which builds on the ROS middleware API and is optionally built upon by the other ROS client libraries.

foxglove_msgs provides visualization messages that are supported by Foxglove.

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

Stereo and single image rectification and disparity processing.

RTAB-Map's visualization package.

RTAB-Map's various useful nodes and nodelets.

RTAB-Map's synchronization package.

RTAB-Map's SLAM package.

RTAB-Map's rviz plugins.

RTAB-Map Stack

RTAB-Map's python package.

RTAB-Map's odometry package.

RTAB-Map's msgs package.

RTAB-Map's main launch files.

RTAB-Map's example launch files.

RTAB-Map's demo launch files.

RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.

rqt_plot provides a GUI plugin visualizing numeric values in a 2D plot using different plotting backends.

Functions and types for rclcpp::Parameter

A set of headers for plugins core to the opennav docking framework

A set of BT nodes and XMLs for docking

A Task Server for robot charger docking

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.

Nav2's Output velocity smoother

Nav2 utilities

Theta* Global Planning Plugin

A sets of system-level tests for Nav2 usually involving full robot simulation

Smoother action interface

Smac global planning plugin: A*, Hybrid-A*, State Lattice

An importable library for writing mobile robot applications in python3

Navigation 2 plugins for rviz

Rotation Shim Controller

Regulated Pure Pursuit Controller

Nav2 planner server package

Nav2 NavFn planner

Messages and service files for the Nav2 stack

nav2_mppi_controller

Refactored map server for ROS2 Navigation

A loopback simulator to replace physics simulation

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

Graceful motion controller

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 Nav2 stack

Controller action interface

Ceres constrained smoother

Common support functionality used throughout the navigation 2 stack

Collision Monitor

Nav2 BT Navigator Server

Bringup scripts and configurations for the Nav2 stack

Nav2 behavior server

Nav2 behavior tree wrappers, nodes, and utilities

Package for sanitizing lanelet maps

Package for interpreting traffic rules in a lanelet map

Routing module for lanelet2

Python bindings for lanelet2

Lanelet2 projection library for lat/lon to local x/y conversion

Library to match objects to lanelets

Example maps in the lanelet2-format

Parser/Writer module for lanelet2

Examples for working with Lanelet2

Lanelet2 core module

Meta-package for lanelet2

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

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.

Example usage of generate_parameter_library for a python module

Python to generate ROS parameter library.

Example usage of a parameter header generated in another package.

Example usage of generate_parameter_library.

CMake to generate ROS parameter library.

Standard implementations of the GoalChecker and TrajectoryGenerators for dwb_core

Message/Service definitions specifically for the dwb_core

The dwb_critics package

DWB core interfaces package

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.

The costmap_queue package

The control toolbox contains modules that are useful across all controllers.

Example usage of generate_parameter_library for a python module with cmake.

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

HTTP Streaming of ROS Image Topics in Multiple Formats

A mission planner and visualizer for controlling outdoor ROS robots.

Interfaces for Vizanti.

Demonstration package for Vizanti

An ament built package for any cpp nodes.

Web mission planner and visualizer for controlling outdoor ROS robots.

Bridge communication between ROS and Gazebo Transport

The spatio-temporal 3D obstacle costmap package

Demos using Gazebo Sim simulation with ROS.

Tools for using Gazebo Sim simulation with ROS.

Point cloud utilities for Gazebo simulation with ROS.

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

Image utilities for Gazebo simulation with ROS.

Bridge communication between ROS and Gazebo Transport

Meta-package containing interfaces for using ROS 2 with

Pythonic implementation of behaviour trees.

The Advanced Proximal Optimization Toolbox

Wrapper around OpenVDB, if not found on the system, will compile from source

Messages for NovAtel Oem7 family of receivers.

NovAtel Oem7 ROS Driver

ROS2 driver package for the Kinova Robot Hardware.

Launch file and run-time configurations, e.g. controllers.

kortex_api

An automatically generated package with all the configuration and launch files for using the gen3_lite with the MoveIt Motion Planning Framework

An automatically generated package with all the configuration and launch files for using the gen3 with the MoveIt Motion Planning Framework

An automatically generated package with all the configuration and launch files for using the gen3 with the MoveIt Motion Planning Framework

Gazebo ros2 control tests

gz_ros2_control_demos

Gazebo ros2_control package allows to control simulated robots using ros2_control framework.

*eProsima Fast CDR* is a C++ serialization library implementing the Common Data Representation (CDR) mechanism defined by the Object Management Group (OMG) consortium. CDR is the serialization mechanism used in DDS for the DDS Interoperability Wire Protocol (DDSI-RTPS).

An extension of the Flexible Collision Library.

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

Contains boilerplate cmake script, macros and utils

Package containing a prototype for lifecycle implementation

Package containing tools for dynamically loadable components

Adds action APIs for C++.

The ROS client library in C++.

Publishes RTCM ntrip messages from an external mountpoint

Vendor package for: gz-transport13 13.4.1 Gazebo Transport: Provides fast and efficient asynchronous message passing, services, and data logging.

Vendor package for: gz-sensors8 8.2.2 Gazebo Sensors : Sensor models for simulation

Vendor package for: gz-gui8 8.4.0 Gazebo GUI : Graphical interfaces for robotics applications

Bindings between Numpy and Eigen using Boost.Python

zstd_image_transport provides a plugin to image_transport for transparently sending images encoded as zstd blobs

The trac_ik_python package contains a python wrapper using SWIG for trac_ik_lib

TRAC-IK is a faster, significantly more reliable drop-in replacement for KDL's pseudoinverse Jacobian solver. The TRAC-IK library has a very similar API to KDL's IK solver calls, except that the user passes a maximum time instead of a maximum number of search iterations. Additionally, TRAC-IK allows for error tolerances to be set independently for each Cartesian dimension (x,y,z,roll,pitch.yaw).

A MoveIt! Kinematics plugin using TRAC-IK

This package contains the source code for testing and comparing trac_ik

The ROS packages in this repository were created to provide an improved alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL. TRAC-IK handles joint-limited chains better than KDL without increasing solve time.

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

self_test

A set of ROS 2 message filters which take in messages and may output those messages at a later time, based on the conditions that filter needs met.

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.

A ROS 2 package providing access to the HEBI C++ API.

Vendor package for: gz-rendering8 8.2.2 Gazebo Rendering: Rendering library for robot applications

Vendor package for: gz-physics7 7.5.0 Gazebo Physics : Physics classes and functions for robot applications

Vendor package for: gz-fuel_tools9 9.1.1 Gazebo Fuel Tools: Classes and tools for interacting with Gazebo Fuel

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

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.

tf2_tools

Small lib to transform sensor_msgs with tf. Most notably, PointCloud2

This package contains the ROS Python bindings for the tf2 library

This package contains the C++ ROS bindings for the tf2 library

The tf2_py package

tf2_msgs

KDL binding for tf2

tf2_geometry_msgs

Conversion functions between: - Eigen and KDL

tf2_eigen

tf2_bullet