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fkromer /awesome-ros2

The Robot Operating System Version 2.0 is awesome!

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Awesome Robot Operating System 2 (ROS 2) Awesome

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.




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



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


  • docker-ros2-ospl-ce - A dockerfile to build a ROS2 + OpenSplice CE container. docker-ros2-ospl-ce
  • ros2javadocker - Dockerfiles for building ros2_java with OpenJDK and Android. ros2_java_docker
  • micro-ROS/docker - Docker-related material to setup, configure and develop with micro-ROS hardware.


  • Link ROS - Cloud Logging for ROS 1 and ROS 2.
  • rosbag2 - ROS2 native rosbag. rosbag2
  • rviz - 3D Robot Visualizer. rviz
  • urdfdom - URDF (U-Robot Description Format) library which provides core data structures and a simple XML parser urdfdom
  • urdfdom_headers - Headers for URDF parsers. urdfdom_headers
  • ros2cli - ROS 2 command line tools. ros2cli
  • orocoskinematicsdynamics - Orocos Kinematics and Dynamics C++ library. orocos_kinematics_dynamics
  • pydds - Simple DDS Python API for Vortex Lite and for OpenSplice. pydds
  • Webots - Robot simulator for ROS 2. webots

Penetration testing

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 -
    is a proof of concept on how new features within ROS 2 can be elaborated and used in the context of robot control (
    ). ros2_control
  • ros2_controllers - Description of ros_controllers. ros2_controllers
  • geometry2 - A set of ROS packages for keeping track of coordinate transforms. geometry2
  • ros2-ORB_SLAM2 - ROS2 node wrapping the ORB_SLAM2 library. ros2-ORB_SLAM2
  • basalt_ros2 - ROS2 wrapper for Basalt VIO. basalt_ros2
  • cartographer - Real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. cartographer
  • slam_gmapping - Slam Gmapping for ROS2. slam_gmapping
  • slam_toolbox - Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS. slam_toolbox
  • lidarslam_ros2 - ROS2 package of 3D lidar slam using ndt/gicp registration and pose-optimization. lidarslam_ros2
  • lislamros2 - ROS2 package of tightly-coupled lidar inertial ndt/gicp slam referenced from LIO-SAM. li_slam_ros2
  • vision_opencv - Packages for interfacing ROS2 with OpenCV. vision_opencv
  • teleoptwistkeyboard - Generic Keyboard Teleop for ROS2. teleop_twist_keyboard
  • teleoptwistjoy - Simple joystick teleop for twist robots. teleop_twist_joy
  • navigation - ROS2 Navigation stack. navigation
  • diagnostics - Forked version of the original ROS1 Diagnostics for ROS 2 (currently diagnostics_updater only). diagnostics
  • robotstatepublisher - Forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem. robot_state_publisher
  • common_interfaces - A set of packages which contain common interface files (.msg and .srv). common_interfaces
  • ros2objectmap - "Mark tag of objects on map when SLAM". ros2_object_map
  • ros2objectanalytics - Object Analytics (OA) is ROS2 wrapper for realtime object detection, localization and tracking. ros2_object_analytics
  • ros2intelmovidius_ncs - ROS2 wrapper for Movidius™ Neural Compute Stick (NCS) Neuronal Compute API. ros2_intel_movidius_ncs
  • ros2movingobject - Addressing moving objects based on messages generated by Object Analytics
    . ros2_moving_object
  • ros2openvinotoolkit - ROS2 wrapper for CV API of OpenVINO™ (human vision emulation). ros2_openvino_toolkit
  • ros2grasplibrary - Probably a grasp library :). ros2_grasp_library
  • apriltag_ros - ROS2 node for AprilTag detection. apriltag_ros
  • ros2-web-bridge - Bridging your browser to the ROS 2.0. ros2-web-bridge
  • ros2messagefilters - ros2messagefilters blends various messages based on the conditions that filter needs to met and derives from ROS2 porting of ROS message_filters. ros2_message_filters
  • ros2-tensorflow - ROS2 nodes for computer vision tasks in Tensorflow. ros2-tensorflow
  • ros2_pytorch - ROS2 nodes for computer vision tasks in PyTorch ros2_pytorch.
  • pid - A PID controller for ROS2. pid
  • system-modes - System modes for ROS 2 and micro-ROS.


"System" bindings

  • rclandroid - Android API for ROS2. rclandroid
  • rclnodejs - Node.js version of ROS2.0 client. rclnodejs
  • riot-ros2 - This project enables ROS2 to run on microcontrollers using the RIOT Operating System. riot-ros2

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. ros2_xmlrpc
  • cozmodriverros2 - Unofficial Anki Cozmo node for ROS2. cozmo_driver_ros2
  • sphero_ros2 - ROS2 sphero driver. sphero_ros2
  • flock2 - ROS2 driver for DJI Tello drones. flock2
  • ros2raspicamnode - ROS2 node for Raspberry Pi camera. ros2_raspicam_node
  • joystick_drivers - ROS2 drivers for joysticks. joystick_drivers
  • joystickdriversfrom_scratch - Joystick driver packages for ROS 2. joystick_drivers_from_scratch
  • joystick_ros2 - Joystick driver for ROS2, support all platforms: Linux, macOS, Windows. joystick_ros2
  • ros2teleopkeyboard - Teleop Twist Keyboard for ROS2. ros2_teleop_keyboard
  • rosastracamera - ROS2 wrapper for Astra camera. ros_astra_camera
  • ros2usbcamera - ROS2 General USB camera driver. ros_astra_camera
  • ros2androiddrivers - Collection of ROS2 drivers for several Android sensors. ros2_android_drivers
  • ros2intelrealsense - ROS2 Wrapper for Intel® RealSense™ Devices. ros2_intel_realsense
  • raspicam2_node - ROS2 node for camera module of Raspberry Pi. raspicam2_node
  • ros2trackimu - ROS2 node for TrackIMU IMU sensorros2_track_imu.
  • HRIM - A standard interface for robot modules.
  • FIROS2 - ROS2 integrable tool focused in the intercommunication between ROS2 and FIWARE. FIROS2
  • lino2_upper - Linorobot on ROS2. lino2_upper
  • RysROS2 - ROS2 software stack for MiniRys robots. RysROS2
  • px4toros - ROS2/ROS packages for communicate PX4 with ROS. px4_to_ros
  • multiwii_ros2 - ROS2 Node for MultiWii and Cleanflight flight controllers. multiwii_ros2
  • ydlidar_ros2 - ROS2 wrapper for ydlidar. ydlidar_ros2
  • 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. ros2_ouster_drivers
  • micro-ROS/hardware - Information and documentation about the hardware platforms used and supported in the micro-ROS project.

Client libraries

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

Client libraries common

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

IDL generators

RMW (ROS middleware)

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

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). Fast-RTPS
  • OpenSplice - Implementation of the OMG DDS Standard. opensplice :heavydollarsign:
  • CoreDX DDS - Implementation of Twin Oaks Computing, Inc.. :heavydollarsign:
  • freertps - A free, portable, minimalist, work-in-progress RTPS implementation. freertps
  • cdds - Cyclone DDS is developed completely in the open and is undergoing the acceptance process to become part of Eclipse IoT. cdds
  • Micro-XRCE-DDS) - An XRCE DDS implementation (supported by microROS). Micro-XRCE-DDS

Build system (Linux)

  • meta-ros2 - ROS 2 Layer for OpenEmbedded Linux. meta-ros2

Build system (ROS2)

  • ci - ROS 2 CI Infrastructure. ci
  • amentcmakeexport_jars - The ability to export Java archives to downstream packages in the ament buildsystem in CMake. ros2_java
  • rmwimplementationcmake - CMake functions which can discover and enumerate available implementations. rmw
  • rmw_implementation - CMake infrastructure and dependencies for rmw implementations. rmw

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 suppport 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.


  • 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.




No books published yet



ROSCon 2019

Program announcement(slides + videos)

ROSCon Fr 2019

Program announcement(slides + videos)

ROS-I EU Spring 2019 Workshop

  • Current Status of ROS 2 Hands-on Feature Overview Slides


  • Robot Modularity with Xilinx and H-ROS (Xilinx Inc.) Video

ROSCon JP 2018 (english slide presentations only)

  • What's next for ROS? (from slide 24 onwards) Slides Video

ROSCon 2018

program announcement

  • Hands-on ROS 2: A Walkthrough
  • ROS 2 on Autonomous Driving Vehicles
  • RViz – The tale of a migration to ROS 2.0
  • Launch for ROS 2
  • Getting involved in ROS 2 development
  • Planning to Plan: Plugins All The Way Down
  • Leveraging DDS Security in ROS2
  • Arm DDS Security library: Adding secure security to ROS2
  • ROS2: Supercharging the Jaguar4x4
  • Performance Test - A Tool for Communication Middleware Performance Measuring
  • ROS2 for Android, iOS and Universal Windows Platform: a demonstration of ROS2’s portability, and cross-platform and cross-language capabilities
  • Integrating ROS and ROS2 on mixed-critical robotic systems based on embedded heterogeneous platforms
  • Towards ROS 2 microcontroller meta cross-compilation
  • Node.js Client & Web Bridge Ready for ROS 2.0
  • RCLAda: the Ada client library for ROS2

Embedded World Conference 2018


  • ROS2 - The Robot Operating System Version 2 (TNG Technology Consulting GmbH) Slides Video

ROS Industrial Conference 2017

  • micro Robot Operating System: ROS for highly resource-constrained devices Slides
  • ROS2 - it's coming Slides

ROSCon 2017

  • The ROS 2 vision for advancing the future of robotics development Slides Video
  • ROS2 Fine Tuning Slides Video
  • SLAM on Turtlebot2 using ROS2 Slides Video
  • Using ROS2 for Vision-Based Manipulation with Industrial Robots Slides Video


  • HyphaROS ROS 2.0 Introduction slides

ROS Industrial Conference 2016


ROSCon 2016

ROSCon 2015




Robotics Capture the Flag (RCTF)

  • rctf-list - A list of Robotics CTF (RCTF) scenarios.


Working Groups


License: CC BY-NC-SA 4.0

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