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

TODO

Theta* Global Planning Plugin

TODO

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

TODO

TODO

Messages and service files for the Nav2 stack

nav2_mppi_controller

Refactored map server for ROS2 Navigation

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

TODO

Bringup scripts and configurations for the Nav2 stack

TODO

TODO

The multirole_sensor_client package

The moveit2z_client package

The lifecyclenode_client package implements SMACC Action Client Plugin for the ROS Navigation State - move_base node. Developed by Reel Robotics.

The keyboard_client package

The http_client package

forward_local_planner package.

The forward_global_planner package.

The eg_random_generator package

The eg_random_generator package

Standard implementations of the GoalChecker and TrajectoryGenerators for dwb_core

Message/Service definitions specifically for the dwb_core

The dwb_critics package

TODO

The costmap_queue package

The backward_local_planner package.

The backward_global_planner package.

TODO: Package description

YASMIN (Yet Another State MachINe) for ROS 2

Msgs of (Yet Another State MachINe)

Demos of YASMIN (Yet Another State MachINe)

YASMIN (Yet Another State MachINe) main package

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

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

Statistics msgs package

The pal_statistics package

Node that collects statistics from topics and sends them to carbon

A lightweight multivehicle simulation framework.

aandd ek/ew series driver python package

Launch files and scripts needed to bring up the ROS nodes of a TIAGo robot.

TIAGo navigation metapackage

Launch files and scripts needed to bring up the ROS nodes of a TIAGo robot.

TIAGo-specific launch files needed to run navigation on a TIAGo robot.

pmb2-specific RGBD sensors module and params files.

PMB2 navigation metapackage

Launch files and scripts needed to bring up the ROS nodes of a PMB2 robot.

PMB2-specific launch files needed to run navigation on the PMB2 robot.

PlotJuggler: juggle with data

The off_highway_uss_msgs package

The off_highway_uss package

The off_highway_sensor_drivers_examples package

The off_highway_sensor_drivers package

The off_highway_radar_msgs package

The off_highway_radar package

The off_highway_premium_radar_sample_msgs package

The off_highway_premium_radar_sample package

The off_highway_general_purpose_radar_msgs package

The off_highway_general_purpose_radar package

The off_highway_can package

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Utilities for launch files

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.

URDF description for Universal Robots

Play a pre-recorded motion on a robot

Play a pre-recorded motion on a robot

ROS Foxglove Bridge

*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.

Universal Robot ROS2 interface for Webots.

TurtleBot3 Burger robot ROS2 interface for Webots.

TIAGo robots ROS2 interface for Webots.

System tests for `webots_ros2` packages.

Tesla ROS2 interface for Webots.

Services and Messages of the webots_ros2 packages.

Mavic 2 Pro robot ROS2 interface for Webots.

This package allows to convert URDF and XACRO files into Webots PROTO files.

E-puck2 driver for Webots simulated robot

Implementation of the Webots - ROS 2 interface

ros2_control plugin for Webots

Interface between Webots and ROS2

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

Helper functions for displaying and debugging MoveIt data in Rviz via published markers

KDL implementation of ros2_control kinematics interface

Kinematics interface for ROS 2 control

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

The andino_slam package

Bring up nav2 package with Andino.

The andino_hardware package

Launch Gazebo simulation with Andino

The andino_firmware package

The andino_description package

The andino_control package

Contains launch files to bring up andinobot robot.

The andino_base package

Package for apps created with andino

Messages for NovAtel Oem7 family of receivers.

NovAtel Oem7 ROS Driver

Gazebo Harmonic heightmap spawner from ROS2 map

Library to add tracepoints for CARET

Message definitions for CARET

c++ implementation of caret_analyze

The backward_ros package is a ros wrapper of backward-cpp from https://github.com/bombela/backward-cpp

Protobuf to ROS 2 interoperability interfaces tests

Protobuf to ROS 2 interoperability interfaces

CARET's tools for analyzing trace results

CMake macros to configure security

Command line tools for managing SROS2 keys

ROS 2 CLI package for caret

ROS2 Interfaces for Kompass

Kompass: Event-driven navigation system

The list of commonly used linters in Autoware

The autoware_lanelet2_extension_python package contains Python bindings for lanelet2_extension package

The autoware_lanelet2_extension package contains libraries to handle Lanelet2 format data.

The autoware_internal_planning_msgs package

Autoware internal perception messages package.

Autoware internal messages package.

Autoware internal debug messages package.

CMake scripts for Autoware

agents

Instantaneous Motion Generation for Robots and Machines.

The autoware_utils package

Messages for SocketCAN

Simple wrapper around SocketCAN

Tutorials for py_trees on ROS2.

Example and configuration files for Gazebo simulation of UR manipulators.

Contains tests for [[bond]], including tests for [[bondcpp]].

The State Machine Compiler (SMC) from http://smc.sourceforge.net/ converts a language-independent description of a state machine into the source code to support that state machine. This package contains the libraries that a compiled state machine depends on, but it does not contain the compiler itself.

This package contains generic definitions of geometric shapes and bodies.

This package provides a set of typedef's that allow using Eigen datatypes in STL containers

Python implementation of bond, a mechanism for checking when another process has terminated.

C++ implementation of bond, a mechanism for checking when another process has terminated.

A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.

A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.

The omni_base_simulation package

The omni_base_robot package

The omni_base_gazebo package

This package contains the description (mechanical, kinematic, visual, etc.) of the omni_base robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

The omni_base_controller_configuration package

The omni_base_bringup package

Description and controller configuration of TIAGo

This package contains the description (mechanical, kinematic, visual, etc.) of the TIAGO robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

Configuration and launch files of TIAGo's controllers

Launch files to upload the robot description and start the controllers

Package containing the Python client.

PMB2-specific simulation components. These include plugins and launch scripts necessary for running PMB2 in simulation.

PMB2 robot description and launch files

The pmb2_multi package

Simulation files for the PMB2 robot.

Mechanical, kinematic, visual, etc. description of the PMB2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

Launch files and scripts needed to configure the controllers of the PMB2 robot.

Launch files and scripts needed to bring up the ROS nodes of a PMB2 robot.

PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.

PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.

Provides conversions from PCL data types and ROS message types

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.

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics.

This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets

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

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

ROS Support Library

multires_image

Common plugins for the Mapviz visualization tool

ROS interfaces used by Mapviz

mapviz

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

Eiquadprog a QP solver using active sets

A ROS 2 socketcan interface.

vendor package for the sol2 library

The quaternion_operation package

common linter settings for OUXT Polaris ROS2 packages

common settings for OUXT Polaris ROS2 packages

ros2 hardware interface for nmea_gps

Utility library for boost geometry

Configurable tool to visualize grid maps in RViz.

Generates signed distance fields from grid maps.

RViz plugin for displaying grid map messages.

ROS interface for the grid map library to manage two-dimensional grid maps with multiple data layers.

Conversions between grid maps and Point Cloud Library (PCL) types.