Awesome Robot Operating System 2 (ROS 2)

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

Contents

• Packages
• Documentation
• Books
• Courses
• Presentations

Packages (or libraries)

• 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.
  • ros2_talker_android, ros2_listener_android - 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.
• Containerization
  • docker-ros2-ospl-ce - A dockerfile to build a ROS2 + OpenSplice CE container.
  • ros2_java_docker - Dockerfiles for building ros2_java with OpenJDK and Android
• Ecosystem
  • 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
  • orocos_kinematics_dynamics - Orocos Kinematics and Dynamics C++ library
• Application layer
  • geometry2 - A set of ROS packages for keeping track of coordinate transforms.
  • cartographer real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations
  • vision_opencv - Packages for interfacing ROS2 with OpenCV
  • teleop_twist_keyboard - Generic Keyboard Teleop for ROS2
  • teleop_twist_joy - 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).
  • robot_state_publisher - Forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.
• "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.
• Driver layer
  • joystick_drivers - ROS2 drivers for joysticks
  • ros_astra_camera - ROS2 wrapper for Astra camera
  • ros2_android_drivers - Collection of ROS2 drivers for several Android sensors.
• Client libraries
  • rclcpp - ROS Client Library for C++.
  • 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.
  • rosserial - A ROS client library for small, embedded devices, such as Arduino.
• 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
  • rosidl_generator_java - Generate the ROS interfaces in Java.
  • rosidl_generator_objc - Generate the ROS interfaces in Objective C.
  • rosidl_generator_cpp - Generate the ROS interfaces in C++.
  • rosidl_generator_py - Generate the ROS interfaces in Python.
  • rosidl_generator_c - 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.
  • rmw_connext_cpp - Implement the ROS middleware interface using RTI Connext static code generation in C++.
  • rmw_fastrtps_cpp - Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.
  • rmw_opensplice_cpp - Implement the ROS middleware interface using PrismTech OpenSplice static code generation in C++.
  • rcutils - Common C functions and data structures used in ROS 2
  • freertps - a free, portable, minimalist, work-in-progress RTPS implementation
• DDS communication mechanism implementations
  • Connext DDS - Connectivity Software for Developing and Integrating IIoT Systems
  • Fast-RTPS - Implementation of RTPS Standard (RTPS is the wire interoperability protocol for DDS)
  • OpenSplice - Implementation of the OMG DDS Standard
• build system (Linux)
  • meta-ros2 - ROS 2 Layer for OpenEmbedded Linux
• build system (ROS2)
  • ci - ROS 2 CI Infrastructure
  • ament_cmake_export_jars - The ability to export Java archives to downstream packages in the ament buildsystem in CMake.
  • rmw_implementation_cmake - CMake functions which can discover and enumerate available implementations.
  • rmw_implementation - CMake infrastructure and dependencies for rmw implementations

Documentation

• 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 (ardent) - Status of ROS2 ardent packages.

Books

No books published yet

Courses

No courses existing yet

Presentations

• 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
• ROSCon 2016
  • ROS 2 Update Slides Video
  • Evaluating the resilience of ROS2 communication layer Slides Video
• ROSCon 2015
  • ROS 2 on “small” embedded systems Slides Video
  • State of ROS 2 - demos and the technology behind Slides Video
  • Real-time Performance in ROS 2 Slides Video