fkromer/ awesome-ros2

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The Robot Operating System Version 2.0 is awesome!

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Awesome Robot Operating System 2 (ROS 2)

Name: awesome-ros2
Brand: awesome-ros2
SKU: //fkromer/awesome-ros2
Rating: 3.312 (656 reviews)

A curated list of awesome Robot Operating System Version 2.0 (ROS 2) resources and libraries.

The Robot Operating System 2 (ROS 2) is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS 2 has what you need for your next robotics project. And it’s all open source.

Packages

Demonstrations

adlink_ddsbot - The ROS 2.0/1.0 based robots swarm architecture (opensplice DDS).
adlink_neuronbot - ROS2/DDS robot pkg for human following and swarm.
turtlebot3 - ROS2 based TurtleBot3 demo including Bringup, Teleop and Cartographer.

Examples

turtlebot2_demo - TurtleBot 2 demos using ROS 2.
examples/rclcpp - C++ examples.
examples/rclpy - Python examples.
rcljava_examples - Package containing examples of how to use the rcljava API.
ros2talkerandroid, ros2listenerandroid - Example Android apps for the ROS2 Java bindings.

Benchmarking

ros2_benchmarking - Framework for ROS2 benchmarking. ROS2 communication characteristics can be evaluated on several axes, quickly and in an automated way.
performance_test - Test performance and latency of various communication means like ROS 2, FastRTPS and Connext DDS Micro.

Containerization

docker-ros2-ospl-ce - A dockerfile to build a ROS2 + OpenSplice CE container.
ros2javadocker - Dockerfiles for building ros2_java with OpenJDK and Android.
micro-ROS/docker - Docker-related material to setup, configure and develop with micro-ROS hardware.
ros-tooling/cross_compile - Cross compile ROS and ROS 2 workspaces to non-native architectures and generate corresponding Docker images.

Ecosystem

Link ROS - Cloud Logging for ROS 1 and ROS 2.
rosbag2 - ROS2 native rosbag.
rviz - 3D Robot Visualizer.
urdfdom - URDF (U-Robot Description Format) library which provides core data structures and a simple XML parser
urdfdom_headers - Headers for URDF parsers.
ros2cli - ROS 2 command line tools.
orocoskinematicsdynamics - Orocos Kinematics and Dynamics C++ library.
pydds - Simple DDS Python API for Vortex Lite and for OpenSplice.
Webots - Robot simulator for ROS 2.
LGSVL - Simulation software to accelerate safe autonomous vehicle development.
Unity Robotics Hub - This is a central repository for tools, tutorials, resources, and documentation for robotic simulation in Unity.

Interactivity

Jupyter ROS2 - Jupyter widget helpers for ROS2.

Penetration testing

aztarna - A footprinting tool for robots.
ros2_fuzzer - ROS2 Topic & Service Fuzzer.

Application layer

Apex.Autonomy - Apex.Autonomy provides autonomy algorithms as individual building blocks and is compatible with Autoware.Auto.
Autoware.Auto - Autoware.Auto provides an open-source software stack based on ROS 2 for self-driving technology.
ros2_control -
```
ros2_control
```
is a proof of concept on how new features within ROS 2 can be elaborated and used in the context of robot control (
```
ros2_controllers
```
).
ros2_controllers - Description of ros_controllers.
geometry2 - A set of ROS packages for keeping track of coordinate transforms.
ros2-ORB_SLAM2 - ROS2 node wrapping the ORB_SLAM2 library.
basalt_ros2 - ROS2 wrapper for Basalt VIO.
cartographer - Real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
slam_gmapping - Slam Gmapping for ROS2.
slam_toolbox - Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS.
lidarslam_ros2 - ROS2 package of 3D lidar slam using ndt/gicp registration and pose-optimization.
lislamros2 - ROS2 package of tightly-coupled lidar inertial ndt/gicp slam referenced from LIO-SAM.
vision_opencv - Packages for interfacing ROS2 with OpenCV.
teleoptwistkeyboard - Generic Keyboard Teleop for ROS2.
teleoptwistjoy - Simple joystick teleop for twist robots.
navigation - ROS2 Navigation stack.
diagnostics - Forked version of the original ROS1 Diagnostics for ROS 2 (currently diagnostics_updater only).
robotstatepublisher - Forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.
common_interfaces - A set of packages which contain common interface files (.msg and .srv).
ros2objectmap - "Mark tag of objects on map when SLAM".
ros2objectanalytics - Object Analytics (OA) is ROS2 wrapper for realtime object detection, localization and tracking.
ros2intelmovidius_ncs - ROS2 wrapper for Movidius™ Neural Compute Stick (NCS) Neuronal Compute API.
ros2movingobject - Addressing moving objects based on messages generated by Object Analytics
```
ros2_object_analytics
```
.
ros2openvinotoolkit - ROS2 wrapper for CV API of OpenVINO™ (human vision emulation).
ros2grasplibrary - Probably a grasp library :).
apriltag_ros - ROS2 node for AprilTag detection.
ros2-web-bridge - Bridging your browser to the ROS 2.0.
ros2messagefilters - ros2messagefilters blends various messages based on the conditions that filter needs to met and derives from ROS2 porting of ROS message_filters.
ros2-tensorflow - ROS2 nodes for computer vision tasks in Tensorflow.
ros2_pytorch - ROS2 nodes for computer vision tasks in PyTorch .
pid - A PID controller for ROS2.
system-modes - System modes for ROS 2 and micro-ROS.
darknet_ros - ROS2 wrapper for deploying Darknet's YOLO Computer Vision model.

Middleware

Micro XRCE-DDS Agent - Micro XRCE-DDS Agent acts as a server between DDS Network and Micro XRCE-DDS Clients.
Micro XRCE-DDS Agent docker - Docker image containing the Micro XRCE-DDS Agent.
Micro XRCE-DDS Client - Micro XRCE-DDS implements a client-server protocol to enable resource-constrained devices (clients) to take part in DDS communications.
micro-ROS-Agent - ROS 2 package using Micro XRCE-DDS Agent.

"System" bindings

rclandroid - Android API for ROS2.
rclnodejs - Node.js version of ROS2.0 client.
riot-ros2 - This project enables ROS2 to run on microcontrollers using the RIOT Operating System.
ROS2-Integration-Service - ROS2 Integration and Routing which provides a complete tool to integrate other technologies with ROS2 easily and enable ROS2 on WAN/Internet.
soss - The System Of Systems Synthesizer is used to integrate ROS2 via ROS2-Integration-Service with other (communication) systems.

Driver layer

Autoware.IO - Autoware.IO provides a heterogeneous hardware reference platform and enables the integration of member company's solutions onto platforms which support the Autoware.Auto and Autoware.AI software stack.
ros2xmlrpcinterface - ros2 interface package with xmlrpc, to communicate with a Sesto server using Sesto API.
cozmodriverros2 - Unofficial Anki Cozmo node for ROS2.
sphero_ros2 - ROS2 sphero driver.
flock2 - ROS2 driver for DJI Tello drones.
ros2raspicamnode - ROS2 node for Raspberry Pi camera.
joystick_drivers - ROS2 drivers for joysticks.
joystickdriversfrom_scratch - Joystick driver packages for ROS 2.
joystick_ros2 - Joystick driver for ROS2, support all platforms: Linux, macOS, Windows.
ros2teleopkeyboard - Teleop Twist Keyboard for ROS2.
rosastracamera - ROS2 wrapper for Astra camera.
ros2usbcamera - ROS2 General USB camera driver.
ros2androiddrivers - Collection of ROS2 drivers for several Android sensors.
ros2intelrealsense - ROS2 Wrapper for Intel® RealSense™ Devices.
raspicam2_node - ROS2 node for camera module of Raspberry Pi.
ros2trackimu - ROS2 node for TrackIMU IMU sensor.
HRIM - A standard interface for robot modules.
FIROS2 - ROS2 integrable tool focused in the intercommunication between ROS2 and FIWARE.
lino2_upper - Linorobot on ROS2.
RysROS2 - ROS2 software stack for MiniRys robots.
px4toros - ROS2/ROS packages for communicate PX4 with ROS.
multiwii_ros2 - ROS2 Node for MultiWii and Cleanflight flight controllers.
ydlidar_ros2 - ROS2 wrapper for ydlidar.
zed-ros2-wrapper - ROS 2 wrapper beta for the ZED SDK.
ros2densoradar - Toyota/Lexus 2015-2017 Denso Radar driver for ROS2.
sick_scan2 - ROS2 driver for the SICK TiM series of laser scanners (TiM551/TiM561/TiM571).
ros2ousterdrivers - ROS2 Drivers for the Ouster OS-1 Lidars.
micro-ROS/hardware - Information and documentation about the hardware platforms used and supported in the micro-ROS project.
Blickfeld Cube 1 & Cube Range - ROS2 drivers for Blickfeld Cube 1 & Cube Range.

Client libraries

rclada - ROS Client Library for Ada.
rclcpp - ROS Client Library for C++.
rclgo - ROS Client Library for Go.
rclpy - ROS Client Library for Python.
rcljava - ROS Client Library for Java.
rclnodejs - ROS Client Library for Node.js.
rclobjc - ROS Client Library for Objective C (for iOS).
rclc - ROS Client Library for C.
ros2_rust - Rust bindings for ROS2.
ros2_dotnet - .NET bindings for ROS2.

Client libraries common

rcl - Library to support implementation of language specific ROS Client Libraries.
system_tests - Tests for rclcpp and rclpy.
rcl_interfaces - A repository for messages and services used by the ROS client libraries.

IDL generators

rosidlgeneratorjava - Generate the ROS interfaces in Java.
rosidlgeneratorobjc - Generate the ROS interfaces in Objective C.
rosidlgeneratorcpp - Generate the ROS interfaces in C++.
rosidlgeneratorc - Generate the ROS interfaces in C.
rosidl - Packages which provide the ROS IDL (.msg) definition and code generation.
rosidl_dds - Generate the DDS interfaces for ROS interfaces.

RMW (ROS middleware)

rmw - Contains the ROS middleware API.
rmwconnextcpp - Implement the ROS middleware interface using RTI Connext static code generation in C++.
rmwfastrtpscpp - Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.
rmw_dps - Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe.
rmwopensplicecpp - Implement the ROS middleware interface using PrismTech OpenSplice static code generation in C++.
rmw_coredx - CoreDX DDS integration layer for ROS2.
rmw_freertps - RMW implementation using freertps.
rmw_zenoh - RMW implementation using Eclipse zenoh: Zero Overhead Pub/sub, Store/Query and Compute.
rcutils - Common C functions and data structures used in ROS 2.
freertps - a free, portable, minimalist, work-in-progress RTPS implementation.
rmw_zhe - An ROS2 RMW implementation on top of Zhe.
rmw_cyclonedds - ROS2 RMW layer for Eclipse Cyclone DDS.

DDS communication mechanism implementations

Connext DDS - Connectivity Software for Developing and Integrating IIoT Systems. :heavydollarsign:
Fast-RTPS - Implementation of RTPS Standard (RTPS is the wire interoperability protocol for DDS).
OpenSplice - Implementation of the OMG DDS Standard. :heavydollarsign:
CoreDX DDS - Implementation of Twin Oaks Computing, Inc.. :heavydollarsign:
freertps - A free, portable, minimalist, work-in-progress RTPS implementation.
cdds - Cyclone DDS is developed completely in the open and is undergoing the acceptance process to become part of Eclipse IoT.
Micro-XRCE-DDS) - An XRCE DDS implementation (supported by microROS).

Build system (Linux)

meta-ros2 - ROS 2 Layer for OpenEmbedded Linux.

Build system (ROS2)

ci - ROS 2 CI Infrastructure.
amentcmakeexport_jars - The ability to export Java archives to downstream packages in the ament buildsystem in CMake.
rmwimplementationcmake - CMake functions which can discover and enumerate available implementations.
rmw_implementation - CMake infrastructure and dependencies for rmw implementations.

Operating systems

NuttX - NuttX fork of the official one for use with micro-ROS.
RIOT - RIOT is a real-time multi-threading operating system (...,) real-time capabilities, small memory footprint, (...) API offers partial POSIX compliance.
eMCOS - POSIX-compliant real-time OS for many-core processors expected to support AUTOSAR in the future.
PYNQ - Python-based rapid prototyping of high performance ML applications running on XILINX FPGAs.
Ubuntu Core - Build secure IoT devices with Ubuntu Core.
Ubuntu Server
VxWorks - The Secure, Safe, Reliable, and Certifiable real-time OS for Critical Infrastructure
Zephyr - Linux Foundation Projects RTOS aiming at beeing secure and safe.

Forks

Apex.OS - Apex.OS is a fork of ROS 2 that has been made so robust and reliable that it can be used in safety-critical applications.

Documentation

ROS Index - Future single entry point into ROS2 documentation (BETA).
ROS 2 Design - Articles which inform and guide the ROS 2.0 design efforts.
ROS 2 Docs (Overview) - Details about ROS 2 internal design and organisation.
ROS 2 Tutorials - Study about ROS2 concept, libraries, build, and development with demoes/examples.
ROS 2 Wiki - Entry point to find all kind of information about ROS 2.
ROS 2 Distribution (rosdistro) - Info about distributions and the included packages.
ROS2 package status.
- Bouncy package status - Status of ROS Bouncy packages.
- Ardent package status - Status of ROS2 Ardent packages.
ROS2 Buildfarm - Build information (Jenkins build farm).
ROS2 CLI cheats sheet - A cheats sheet for ROS 2 Command Line Interface.

Community

Books

No books published yet

Courses

Presentations

ROSCon 2019

Program announcement(slides + videos)

ROSCon Fr 2019