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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: Aug. 7, 2022, 6:02 p.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)

35
31
2y 110d
Apache-2.0

ROS2/DDS robot pkg for human following and swarm

9
6
4y 4m
Apache-2.0

ROS packages for Turtlebot3

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716
6m
Apache-2.0

Examples

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3y 4m
n/a

Example packages for ROS2

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183
6m
Apache-2.0

Example Java applications for the ROS2 Java bindings

5
12
1y 13d
Apache-2.0

Example Android apps for the ROS2 Java bindings

15
7
4y 108d
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.

35
5
4y 94d
LGPL-3.0

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

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37
2y 9m
n/a

Containerization

A dockerfile to build a ROS2 + OpenSplice CE container

7
2
4y 11m
MIT

Dockerfiles for building ros2_java with OpenJDK and Android

4
1
4y 65d
n/a

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

25
20
6m
Apache-2.0

A tool to build ROS and ROS2 workspaces for various targets

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44
8m
Apache-2.0

A repository to hold definitions of docker images maintained by OSRF

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120
9m
Apache-2.0

Dockerfiles to provide HTML5 VNC interface to access Ubuntu LXDE + ROS2

145
27
4m
Apache-2.0

Networking

Husarnet is a Peer-to-Peer VPN to connect your laptops, servers and microcontrollers over the Internet with zero configuration.

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5
7m
n/a

Ecosystem

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134
5m
Apache-2.0

ROS 3D Robot Visualizer

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123
5m
BSD-3-Clause-Clear

URDF parser

0
6
1y 9m
n/a

Headers for URDF parsers

0
2
2y 4m
n/a

ROS 2 command line interface tools

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88
5m
Apache-2.0

Orocos Kinematics and Dynamics C++ library

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8
8m
n/a

Python API for DDS

22
7
4y 80d
n/a

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

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212
6m
Apache-2.0

Robotics visualization and debugging

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47
5m
MPL-2.0

High-performance ROS2 solution for Unity3D

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10
8m
Apache-2.0

Interactivity

Jupyter widget helpers for ros2, the Next-Generation of the Robot Operating System

6
3
2y 8m
n/a

Penetration testing

aztarna, a footprinting tool for robots.

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23
1y 11m
GPL-3.0
13
4
1y 11m
GPL-3.0

Application layer

Generic and simple controls framework for ROS2

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5m
Apache-2.0

Generic robotic controllers to accompany ros2_control

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6m
Apache-2.0

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

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121
6m
BSD-3-Clause

ROS2 node wrapping the ORB_SLAM2 library

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9
1y 10m
GPL-3.0

ROS2 wrapper for Basalt VIO

15
0
1y 11m
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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15
2y 71d
Apache-2.0

Slam Gmapping for ROS2

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1y 4m
n/a

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

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257
6m
LGPL-2.1

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

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34
6m
BSD-2-Clause

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

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14
1y 7m
BSD-2-Clause

ROS2 stack for mapping with OctoMap, contains octomap_server package

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11m
n/a

Generic Keyboard Teleop for ROS

11
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2y 88d
n/a

Simple joystick teleop for twist robots

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10m
n/a

ROS2 Navigation Framework and System

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5m
n/a

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

1
3
5y 106d
n/a

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

2
0
5y 42d
Apache-2.0

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

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6m
Apache-2.0
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3y 8m
Apache-2.0
79
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2y 10m
Apache-2.0
25
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2y 8m
Apache-2.0
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3y 8m
Apache-2.0
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6m
Apache-2.0
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1y 11m
Apache-2.0

ROS2 node for AprilTag detection

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15
11m
MIT

Bridging your browser to the ROS 2.0

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8m
Apache-2.0

ROS2 nodes for computer vision tasks in Tensorflow

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6
1y 4m
Apache-2.0

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

17
2
3y 117d
Apache-2.0

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

0
0
26d
n/a

A PID controller for ROS2.

4
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4y 71d
n/a

System modes for ROS 2 and micro-ROS

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5
6m
n/a

YOLO ROS: Real-Time Object Detection for ROS

1.43K
913
1y 39d
BSD-3-Clause

A ROS2 package that accelerates the training and deployment of CV models for industries.

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10
10m
Apache-2.0

A ROS2 package that allows rapid digitization of robotic work cells and ease of efficient path-planning of manipulators.

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1y 11d
Apache-2.0

Middleware

Micro XRCE-DDS Agent respository

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6m
Apache-2.0

Micro XRCE-DDS Client repository

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28
6m
Apache-2.0

ROS 2 package using Micro XRCE-DDS Agent.

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10
6m
Apache-2.0

zenoh unifies data in motion, data in-use, data at rest and computations. It carefully blends traditional pub/sub with geo-distributed storages, queries and computations, while retaining a level of time and space efficiency that is well beyond any of the mainstream stacks.

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n/a

A zenoh plug-in that allows to transparently route DDS data. This plugin can be used by DDS applications, such as ROS2 robotic applications and others, to leverage the zenoh for geographical routing or for better scaling discovery.

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6m
n/a

"System" bindings

Java and Android bindings for ROS2

2
6
4y 9m
Apache-2.0

Node.js version of ROS 2.0 client

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48
6m
Apache-2.0

ROS2 on microcontrollers !

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9
4y 35d
Apache-2.0

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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2
1y 75d
Apache-2.0
41
12
9m
Apache-2.0

micro-ROS library for Arduino

158
41
5m
Apache-2.0

micro-ROS Zephyr module and sample code

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6
10m
Apache-2.0

Driver layer

Unofficial Anki Cozmo node for ROS2

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2
4y 7m
Apache-2.0

ROS2 sphero driver

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0
2y 48d
Apache-2.0

ROS2 swarm controller for DJI Tello drones

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11
8m
BSD-3-Clause

ROS2 node for Raspberry Pi camera

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3y 9m
Apache-2.0

ROS drivers for joysticks

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2y 4m
n/a

joystick driver packages for ROS 2

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2
2y 9m
n/a

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

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4
4y 7m
Apache-2.0

Teleop Twist Keyboard for ROS2

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8
5y 7m
n/a

ROS wrapper for Astra camera

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4y 41d
n/a

ROS2 USB Camera node

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1y 117d
Apache-2.0

Android sensor drivers for ROS2

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0
4y 9m
Apache-2.0

This project is deprecated and no more maintained. Please visit https://github.com/IntelRealSense/realsense-ros for ROS2 wrapper.

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2y 9m
Apache-2.0

ROS2 node for camera module of Raspberry Pi

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13
8m
n/a

TrackIMU ROS2 driver

2
1
2y 6m
MIT

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

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23
3y 2d
Apache-2.0

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

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2
2y 9m
Apache-2.0

Prototyping for upper layer ROS2

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0
4y 7d
n/a

ROS2 software stack for MiniRys robots

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0
3y 11m
n/a

ROS2/ROS packages for communicate PX4 with ROS

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2
5y 61d
Apache-2.0

ROS2 Node for MultiWii and Cleanflight flight controllers

7
1
11m
MIT

ydlidar driver package for ros2

1
2
2y 37d
n/a

ROS 2 wrapper beta for the ZED SDK

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37
7m
MIT

Toyota/Lexus 2015-2017 Denso Radar driver for ROS2

6
1
2y 104d
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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25
9m
Apache-2.0

ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars

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29
6m
Apache-2.0

Universal Robots ROS2 driver supporting CB3 and e-Series

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54
84d
BSD-3-Clause

ODrive driver for ros2_control

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27
4m
Apache-2.0

Client libraries

Ada client library for ROS2/RCL

6
1
1y 60d
LGPL-3.0

rclcpp (ROS Client Library for C++)

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5m
Apache-2.0

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

35
12
2y 7m
Apache-2.0

rclpy (ROS Client Library for Python)

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120
6m
Apache-2.0

Java and Android bindings for ROS2

9
6
2y 6m
Apache-2.0

Node.js version of ROS 2.0 client

174
48
6m
Apache-2.0

Objective C and iOS bindings for ROS2

16
8
3y 7m
Apache-2.0

ROS Client Library for the C language.

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23
6m
n/a

Rust bindings for ROS2

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47
6m
Apache-2.0

.NET bindings for ROS2

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39
10m
Apache-2.0

A C# (.Net) implementation of ros2 client library (rcl), enabling communication between ros2 ecosystem and C#/.Net applications such as Unity3D

19
2
8m
Apache-2.0

Client libraries common

Library to support implementation of language specific ROS Client Libraries.

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103
5m
Apache-2.0
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39
6m
Apache-2.0

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

12
25
6m
Apache-2.0

IDL generators

Java and Android bindings for ROS2

9
6
2y 6m
Apache-2.0

Objective C and iOS bindings for ROS2

16
8
3y 7m
Apache-2.0

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

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5m
Apache-2.0
2
6
1y 88d
Apache-2.0

RMW (ROS middleware)

The ROS Middleware (rmw) Interface.

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42
6m
Apache-2.0

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

22
36
1y 87d
Apache-2.0

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

92
80
5m
Apache-2.0

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

21
8
1y 11m
Apache-2.0

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

11
27
10m
Apache-2.0

CoreDX DDS integration layer for ROS2

0
7
2y 10m
Apache-2.0

rmw implementation using freertps

1
1
6y 5m
Apache-2.0

Experimental rmw using zenoh as the middleware

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3
9m
n/a

Common C functions and data structures used in ROS 2

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65
6m
Apache-2.0

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

83
32
4y 10m
Apache-2.0

ROS 2 RMW layer for Eclipse Cyclone DDS

57
56
6m
Apache-2.0

rmw implementation for iceoryx

71
17
6m
Apache-2.0

DDS communication mechanism implementations

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

1K
401
5m
Apache-2.0

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

215
145
1y 45d
Apache-2.0

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

83
32
4y 10m
Apache-2.0

Cyclone DDS -- AKA Chameleon

7
1
3y 9m
EPL-1.0

An XRCE DDS implementation

83
10
6m
Apache-2.0

Build system (Linux)

ROS 2 Layer for OpenEmbedded Linux

15
6
4y 6m
GPL-3.0

Build system (ROS2)

ROS 2 CI Infrastructure

28
28
5m
Apache-2.0

Java and Android bindings for ROS2

9
6
2y 6m
Apache-2.0

The ROS Middleware (rmw) Interface.

58
42
6m
Apache-2.0

CMake infrastructure and dependencies for rmw implementations

15
43
6m
Apache-2.0

Operating systems

Official micro-ROS RTOS

59
31
6m
n/a

RIOT - The friendly OS for IoT

4.09K
1.78K
5m
LGPL-2.1

Easy to use framework for ROS2 FPGA-based hardware acceleration; Supports Pub/Sub communication, Actions and Services and costum ROS Messages

10
2
9m
GPL-2.0

Build system to automate the build of VxWorks 7 and ROS2

51
11
2y 35d
Apache-2.0

Packaging

Forks

Documentation

Community

Courses

ROS-I EU Spring 2019 Workshop

2019

ROSCon JP 2018 (english slide presentations only)

Embedded World Conference 2018

2018

ROS Industrial Conference 2017

ROSCon 2017

2017

ROS Industrial Conference 2016

ROSCon 2016

ROSCon 2015

Papers

Podcasts

Cloud robotics

Robotics Capture the Flag (RCTF)

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

27
4
1y 11m
GPL-3.0

Companies

Organizations

Working Groups