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Awesome Robot Operating System 2.0

The Robot Operating System Version 2.0 is awesome!

Here you can see meta information about this topic like the time we last updated this page, the original creator of the awesome list and a link to the original GitHub repository.

Last Update: Dec. 2, 2020, 6 a.m.

Thank you fkromer & contributors
View Topic on GitHub:
fkromer/awesome-ros2

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Demonstrations

The ROS 1/2 based robots swarm architecture (opensplice DDS)

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Apache-2.0

ROS2/DDS robot pkg for human following and swarm

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2y 7m
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ROS packages for Turtlebot3

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Examples

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n/a

Example packages for ROS2

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Example Java applications for the ROS2 Java bindings

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Example Android apps for the ROS2 Java bindings

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2y 7m
Apache-2.0

Benchmarking

The project aims to provide a framework for ROS2 benchmarking. ROS2 communication characteristics can be evaluated on several axes, quickly and in an automated way. The project also serves to compare ROS2 to ROS1 and to pure implementations of DDS such as OpenSplice and others (for measuring ROS2 overhead). It is easy to setup and run thanks to the use of Docker.

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LGPL-3.0

This project is deprecated Go to https://gitlab.com/ApexAI/performance_test

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Containerization

A dockerfile to build a ROS2 + OpenSplice CE container

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2
3y 88d
MIT

Dockerfiles for building ros2_java with OpenJDK and Android

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0
2y 6m
n/a

Docker-related material to setup, configure and develop with micro-ROS hardware.

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Ecosystem

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ROS 3D Robot Visualizer

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BSD-3-Clause-Clear

URDF parser

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34d
n/a

Headers for URDF parsers

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7m
n/a

ROS 2 command line interface tools

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Apache-2.0

Orocos Kinematics and Dynamics C++ library

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n/a

Python API for DDS

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2y 6m
n/a

Central repository for tools, tutorials, resources, and documentation for robotic simulation in Unity.

187
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8d
Apache-2.0

Cloud Logging for ROS 1 and ROS 2.

Robot simulator for ROS 2. webots

Penetration testing

aztarna, a footprinting tool for robots.

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GPL-3.0
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100d
GPL-3.0

Application layer

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Apache-2.0

A set of ROS packages for keeping track of coordinate transforms.

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BSD-3-Clause

ROS2 node wrapping the ORB_SLAM2 library

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76d
GPL-3.0

ROS2 wrapper for Basalt VIO

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103d
n/a

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

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Apache-2.0

Slam Gmapping for ROS2

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11m
n/a

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

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LGPL-2.1

ROS2 package of 3D lidar slam using ndt/gicp registration and pose-optimization

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BSD-2-Clause

ROS2 package of tightly-coupled lidar inertial ndt/gicp slam referenced from LIO-SAM

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7
113d
BSD-2-Clause

Generic Keyboard Teleop for ROS

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Simple joystick teleop for twist robots

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Obsolete. For navigation with ROS 2 see https://github.com/ros-planning/navigation2/

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Packages related to gathering, viewing, and analyzing diagnostics data from robots.

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2y 4m
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Allows you to publish the state of a robot (i.e the position of its base and all joints) via the "tf" transform library

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2y 7m
Apache-2.0

A set of packages which contain common interface files (.msg and .srv).

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ROS2 node for AprilTag detection

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n/a

Bridging your browser to the ROS 2.0

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ROS2 nodes for computer vision tasks in Tensorflow

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ROS2 PyTorch template node - running PyTorch C++ models in ROS2

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Apache-2.0

A PID controller for ROS2.

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n/a

System modes for ROS 2 and micro-ROS

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Autoware.Auto provides an open-source software stack based on ROS 2 for self-driving technology.

Middleware

Micro XRCE-DDS Agent respository

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Micro XRCE-DDS Client repository

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ROS 2 package using Micro XRCE-DDS Agent.

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n/a

Docker image containing the Micro XRCE-DDS Agent.

"System" bindings

Java and Android bindings for ROS2

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3y 29d
Apache-2.0

Node.js version of ROS 2.0 client

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ROS2 on microcontrollers !

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ROS2 Integration and Routing: Provide a complete tool to integrate other technologies with ROS2 easily and enable ROS2 on WAN/Internet.

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Driver layer

Unofficial Anki Cozmo node for ROS2

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Apache-2.0

ROS2 sphero driver

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ROS2 swarm controller for DJI Tello drones

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BSD-3-Clause

ROS2 node for Raspberry Pi camera

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2y 23d
Apache-2.0

ROS drivers for joysticks

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joystick driver packages for ROS 2

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1y 22d
n/a

Joystick driver for ROS2, support all platforms: Linux, OS X, Windows

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Apache-2.0

Teleop Twist Keyboard for ROS2

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3y 11m
n/a

ROS wrapper for Astra camera

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2y 5m
n/a

ROS2 USB Camera node

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Android sensor drivers for ROS2

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3y 29d
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ROS2 node for camera module of Raspberry Pi

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TrackIMU ROS2 driver

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MIT

An information model for robot hardware. Facilitates interoperability across modules from different robot manufacturers. Built around ROS 2.0

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1y 118d
Apache-2.0

eProsima FIROS2 is a ROS2 integrable tool focused in the intercommunication between ROS2 and FIWARE

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1y 49d
Apache-2.0

Prototyping for upper layer ROS2

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n/a

ROS2 software stack for MiniRys robots

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n/a

ROS2/ROS packages for communicate PX4 with ROS

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3y 5m
Apache-2.0

ROS2 Node for MultiWii and Cleanflight flight controllers

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82d
MIT

ydlidar driver package for ros2

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n/a

ROS 2 wrapper beta for the ZED SDK

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8d
MIT

Toyota/Lexus 2015-2017 Denso Radar driver for ROS2

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7m
MIT

sick_scan2 is an open-source project to support the laser scanner of the company SICK using the ROS2 framework

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Apache-2.0

ROS2 Drivers for the Ouster OS-1 Lidars

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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.

Client libraries

Ada client library for ROS2/RCL

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LGPL-3.0

rclcpp (ROS Client Library for C++)

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A go wrapper for the ROS2 Core Libraries (RCL).

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rclpy (ROS Client Library for Python)

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Java and Android bindings for ROS2

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Node.js version of ROS 2.0 client

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Objective C and iOS bindings for ROS2

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1y 11m
Apache-2.0

ROS Client Library for the C language.

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Rust bindings for ROS2

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.NET bindings for ROS2

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Client libraries common

Library to support implementation of language specific ROS Client Libraries.

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A repository for messages and services used by the ROS client libraries

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IDL generators

Java and Android bindings for ROS2

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Objective C and iOS bindings for ROS2

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Packages which provide the ROS IDL (.msg) definition and code generation.

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RMW (ROS middleware)

The ROS Middleware (rmw) Interface.

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Implementation of the ROS Middleware (rmw) Interface using RTI's Connext DDS.

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Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.

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Apache-2.0

Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe.

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Apache-2.0

Implementation of the ROS Middleware (rmw) interface using PrismTech's OpenSplice DDS.

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Apache-2.0

CoreDX DDS integration layer for ROS2

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1y 60d
Apache-2.0

rmw implementation using freertps

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4y 9m
Apache-2.0

Experimental rmw using zenoh as the middleware

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12d
n/a

Common C functions and data structures used in ROS 2

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Apache-2.0

a free, portable, minimalist, work-in-progress RTPS implementation

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Apache-2.0

ROS2 RMW layer for Zenoh-He

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Apache-2.0

ROS 2 RMW layer for Eclipse Cyclone DDS

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Apache-2.0

DDS communication mechanism implementations

The most complete DDS - Proven: Plenty of success cases.

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2d
Apache-2.0

This is the Vortex OpenSplice Community Edition source repository. For our commercial offering see

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Apache-2.0

a free, portable, minimalist, work-in-progress RTPS implementation

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31
3y 58d
Apache-2.0

Cyclone DDS -- AKA Chameleon

7
1
2y 39d
EPL-1.0

An XRCE DDS implementation

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6
5m
Apache-2.0

Connectivity Software for Developing and Integrating IIoT Systems. :heavy_dollar_sign:

Implementation of Twin Oaks Computing, Inc.. :heavy_dollar_sign:

Build system (Linux)

ROS 2 Layer for OpenEmbedded Linux

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2y 10m
GPL-3.0

Build system (ROS2)

ROS 2 CI Infrastructure

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19d
Apache-2.0

Java and Android bindings for ROS2

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1
6m
Apache-2.0

The ROS Middleware (rmw) Interface.

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Apache-2.0

CMake infrastructure and dependencies for rmw implementations

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Apache-2.0

Operating systems

Official micro-ROS RTOS

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85d
n/a

RIOT - The friendly OS for IoT

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1.64K
4d
LGPL-2.1

Build system to automate the build of VxWorks 7 and ROS2

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3
5m
Apache-2.0

POSIX-compliant real-time OS for many-core processors expected to suppport AUTOSAR in the future.

Python-based rapid prototyping of high performance ML applications running on XILINX FPGAs.

Build secure IoT devices with Ubuntu Core.

Linux Foundation Projects RTOS aiming at beeing secure and safe.

Forks

Documentation

The Robot Operating System, is a meta operating system for robots.

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98d
n/a

This repo maintains a lists of repositories for each ROS 2 distribution

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1y 10m
n/a

A collection of ROS2-related cheats sheet

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Apache-2.0

Future single entry point into ROS2 documentation (BETA).

Articles which inform and guide the ROS 2.0 design efforts.

Details about ROS 2 internal design and organisation.

Build information (Jenkins build farm).

Community

Courses

ROS-I EU Spring 2019 Workshop

2019

ROSCon JP 2018 (english slide presentations only)

Video](https://vimeo.com/292064161)

Embedded World Conference 2018

Video](https://www.youtube.com/watch?v=RC6XvTvTs9Y&feature=youtu.be) Video

2018

Video](https://www.youtube.com/watch?v=6Vzi0Grrlp8)

ROS Industrial Conference 2017

ROSCon 2017

Video](https://vimeo.com/236161417)

Video](https://vimeo.com/236168591)

Video](https://vimeo.com/236172294)

Video](https://vimeo.com/236182180)

2017

ROS Industrial Conference 2016

ROSCon 2016

Video](https://vimeo.com/187696091)

Video](https://vimeo.com/187705229)

ROSCon 2015

Video](https://vimeo.com/142150576)

Video](https://vimeo.com/142151734)

Video](https://vimeo.com/142621778)

Papers

Podcasts

Robotics Capture the Flag (RCTF)

Scenarios of the Robotics CTF (RCTF), a playground to challenge robot security.

23
4
94d
GPL-3.0

Companies

Products and services in the context of robot cybersecurity.

Safe and certified software for autonomous mobility".

The world leader in autonomy systems and solutions".

The company behind Ubuntu.

The middleware experts".

Connect ROS2 applications to 5G networks for M2M communication.

Service provider for intelligent automation.

Real-Time Perception for Your Robot.

OPEN-SOURCE SOFTWARE ECOSYSTEM FOR CONSUMER ROBOTS.

Rugged, industrial-grade robots.

ROS compatible motion control and drive products with efforts to support ROS2.

Organizations

Working Groups