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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.
Thank you fkromer & contributors
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fkromer/awesome-ros2
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Demonstrations
The ROS 1/2 based robots swarm architecture (opensplice DDS)
ROS2/DDS robot pkg for human following and swarm
ROS packages for Turtlebot3
Examples
Example packages for ROS2
Example Java applications for the ROS2 Java bindings
Example Android apps for the ROS2 Java bindings
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.
This project is deprecated Go to https://gitlab.com/ApexAI/performance_test
Containerization
A dockerfile to build a ROS2 + OpenSplice CE container
Dockerfiles for building ros2_java with OpenJDK and Android
Docker-related material to setup, configure and develop with micro-ROS hardware.
A tool to build ROS and ROS2 workspaces for various targets
A repository to hold definitions of docker images maintained by OSRF
Dockerfiles to provide HTML5 VNC interface to access Ubuntu LXDE + ROS2
Networking
Husarnet is a Peer-to-Peer VPN to connect your laptops, servers and microcontrollers over the Internet with zero configuration.
Ecosystem
ROS 3D Robot Visualizer
URDF parser
Headers for URDF parsers
ROS 2 command line interface tools
Orocos Kinematics and Dynamics C++ library
Python API for DDS
Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.
Robotics visualization and debugging
High-performance ROS2 solution for Unity3D
Interactivity
Jupyter widget helpers for ros2, the Next-Generation of the Robot Operating System
Penetration testing
aztarna, a footprinting tool for robots.
Application layer
Generic and simple controls framework for ROS2
Generic robotic controllers to accompany ros2_control
A set of ROS packages for keeping track of coordinate transforms.
ROS2 node wrapping the ORB_SLAM2 library
ROS2 wrapper for Basalt VIO
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Slam Gmapping for ROS2
Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
ROS2 package of 3D lidar slam using ndt/gicp registration and pose-optimization
ROS2 package of tightly-coupled lidar inertial ndt/gicp slam referenced from LIO-SAM
ROS2 stack for mapping with OctoMap, contains octomap_server package
Generic Keyboard Teleop for ROS
Simple joystick teleop for twist robots
ROS2 Navigation Framework and System
Packages related to gathering, viewing, and analyzing diagnostics data from robots.
Allows you to publish the state of a robot (i.e the position of its base and all joints) via the "tf" transform library
A set of packages which contain common interface files (.msg and .srv).
ROS2 node for AprilTag detection
Bridging your browser to the ROS 2.0
ROS2 nodes for computer vision tasks in Tensorflow
ROS2 PyTorch template node - running PyTorch C++ models in ROS2
ROS2 PyTorch template node - running PyTorch C++ models in ROS2
A PID controller for ROS2.
System modes for ROS 2 and micro-ROS
YOLO ROS: Real-Time Object Detection for ROS
A ROS2 package that accelerates the training and deployment of CV models for industries.
A ROS2 package that allows rapid digitization of robotic work cells and ease of efficient path-planning of manipulators.
Middleware
Micro XRCE-DDS Agent respository
Micro XRCE-DDS Client repository
ROS 2 package using Micro XRCE-DDS Agent.
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.
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.
"System" bindings
Java and Android bindings for ROS2
Node.js version of ROS 2.0 client
ROS2 on microcontrollers !
ROS2 Integration and Routing: Provide a complete tool to integrate other technologies with ROS2 easily and enable ROS2 on WAN/Internet.
micro-ROS library for Arduino
micro-ROS Zephyr module and sample code
Driver layer
Unofficial Anki Cozmo node for ROS2
ROS2 sphero driver
ROS2 swarm controller for DJI Tello drones
ROS2 node for Raspberry Pi camera
ROS drivers for joysticks
joystick driver packages for ROS 2
Joystick driver for ROS2, support all platforms: Linux, OS X, Windows
Teleop Twist Keyboard for ROS2
ROS wrapper for Astra camera
ROS2 USB Camera node
Android sensor drivers for ROS2
This project is deprecated and no more maintained. Please visit https://github.com/IntelRealSense/realsense-ros for ROS2 wrapper.
ROS2 node for camera module of Raspberry Pi
TrackIMU ROS2 driver
An information model for robot hardware. Facilitates interoperability across modules from different robot manufacturers. Built around ROS 2.0
eProsima FIROS2 is a ROS2 integrable tool focused in the intercommunication between ROS2 and FIWARE
Prototyping for upper layer ROS2
ROS2 software stack for MiniRys robots
ROS2/ROS packages for communicate PX4 with ROS
ROS2 Node for MultiWii and Cleanflight flight controllers
ydlidar driver package for ros2
ROS 2 wrapper beta for the ZED SDK
Toyota/Lexus 2015-2017 Denso Radar driver for ROS2
sick_scan2 is an open-source project to support the laser scanner of the company SICK using the ROS2 framework
ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars
Universal Robots ROS2 driver supporting CB3 and e-Series
ODrive driver for ros2_control
Client libraries
Ada client library for ROS2/RCL
rclcpp (ROS Client Library for C++)
A go wrapper for the ROS2 Core Libraries (RCL).
rclpy (ROS Client Library for Python)
Java and Android bindings for ROS2
Node.js version of ROS 2.0 client
Objective C and iOS bindings for ROS2
ROS Client Library for the C language.
Rust bindings for ROS2
.NET bindings for ROS2
A C# (.Net) implementation of ros2 client library (rcl), enabling communication between ros2 ecosystem and C#/.Net applications such as Unity3D
Client libraries common
Library to support implementation of language specific ROS Client Libraries.
A repository for messages and services used by the ROS client libraries
IDL generators
Java and Android bindings for ROS2
Objective C and iOS bindings for ROS2
Packages which provide the ROS IDL (.msg) definition and code generation.
RMW (ROS middleware)
The ROS Middleware (rmw) Interface.
Implementation of the ROS Middleware (rmw) Interface using RTI's Connext DDS.
Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.
Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe.
Implementation of the ROS Middleware (rmw) interface using PrismTech's OpenSplice DDS.
CoreDX DDS integration layer for ROS2
rmw implementation using freertps
Experimental rmw using zenoh as the middleware
Common C functions and data structures used in ROS 2
a free, portable, minimalist, work-in-progress RTPS implementation
ROS 2 RMW layer for Eclipse Cyclone DDS
rmw implementation for iceoryx
DDS communication mechanism implementations
The most complete DDS - Proven: Plenty of success cases.
This is the Vortex OpenSplice Community Edition source repository. For our commercial offering see
a free, portable, minimalist, work-in-progress RTPS implementation
Cyclone DDS -- AKA Chameleon
An XRCE DDS implementation
Build system (Linux)
ROS 2 Layer for OpenEmbedded Linux
Build system (ROS2)
ROS 2 CI Infrastructure
Java and Android bindings for ROS2
The ROS Middleware (rmw) Interface.
CMake infrastructure and dependencies for rmw implementations
Operating systems
Official micro-ROS RTOS
RIOT - The friendly OS for IoT
Easy to use framework for ROS2 FPGA-based hardware acceleration; Supports Pub/Sub communication, Actions and Services and costum ROS Messages
Build system to automate the build of VxWorks 7 and ROS2
Packaging
Forks
Documentation
The Robot Operating System, is a meta operating system for robots.
This repo maintains a lists of repositories for each ROS 2 distribution
A collection of ROS2-related cheats sheet
A collection of documentation which contains detailed instructions and tutorials for improving ROS 2 package quality, following REP-2004 quality level and integrating CI into one's development workflow.
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.