Tests for the launch_testing package.

Tests for ROS specific extensions to the launch tool.

The launch command for ROS 2 command line tools.

Implement the ROS middleware interface using the DESERT protocol stack for underwater communications.

Package containing the Python client.

The Advanced Proximal Optimization Toolbox

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.

YAML frontend for the launch package.

XML frontend for the launch package.

A package providing utilities for writing ROS2 enabled launch tests.

A package providing cmake functions for running launch tests from the build.

A package to create tests which involve launch files and multiple processes.

ROS specific extensions to the launch tool.

A package to create tests which involve launch files and multiple processes.

The ROS launch tool.

Some examples on how to use hector_rviz_overlay.

Provides a display to render a QML file on top of the render panel and the tools panel as an overlay for the render panel.

Provides an Overlay that can be used i.e. in a Display plugin to display additional information on top of the rivz RenderPanel.

gtsam

eCAL - enhanced Communication Abstraction Layer. A fast publish-subscribe cross-plattform middleware using Shared Memory and UDP.

The control toolbox contains modules that are useful across all controllers.

control_msgs contains base messages and actions useful for controlling robots. It provides representations for controller setpoints and joint and cartesian trajectories.

Clearpath Tests

Nav2 demos for Clearpath robots

The Autoware AD API version interfaces

The Autoware AD API interfaces

Pangolin is a set of lightweight and portable utility libraries for prototyping 3D, numeric or video based programs and algorithms.

Wrapper around openeb

A beluga extension to facilitate the use of OpenVDB.

Primer on Particle Filtering with Beluga.

Set of miscellaneous tools to work with beluga.

System tests for beluga.

Utilities to interface ROS with Beluga.

Example launch files for Beluga AMCL.

Scripts to benchmark, profile and compare beluga with other AMCL implementations.

An AMCL node implementation for ROS2 using Beluga.

A generic MCL library for ROS2.

Configuration and launch files for using the AR4 robot with MoveIt 2

Gazebo simulation the AR4 robot

The annin_ar4_driver package provides the hardware interface for running an AR4 robot using the ros2_control software framework.

URDF Description package for Annin Robotics robotic arms

Vendor pkg to install zenoh-cpp

A mission planner and visualizer for controlling outdoor ROS robots.

Interfaces for Vizanti.

Demonstration package for Vizanti

An ament built package for any cpp nodes.

Web mission planner and visualizer for controlling outdoor ROS robots.

Generic controller for forwarding commands.

Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering.

Controller for a tricycle drive mobile base

ros2 control hardware interface for topic_based sim

Package for steering robot configurations including odometry and interfaces.

Graphical frontend for interacting with joint_trajectory_controller instances.

Demo nodes for showing and testing functionalities of the ros2_control framework.

Metapackage for ros2_controllers related packages

A ROS 2 middleware implementation using zenoh-cpp

This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and loads the data into memory. The package:// url for ros packages is translated into a local file:// url. The resourse retriever was initially designed to load mesh files into memory, but it can be used for any type of data. The resource retriever is based on the the libcurl library.

Package containing a prototype for lifecycle implementation

Package containing tools for dynamically loadable components

Adds action APIs for C++.

The ROS client library in C++.

Controller to publish readings of range sensors.

Generic position controller for forwarding position commands.

Broadcaster to publish cartesian states.

Controller based on PID implememenation from control_toolbox package.

The parallel_gripper_controller package

Implementation of mecanum drive controller for 4 wheel drive.

Wrapper around libcurl, it provides a fixed CMake module and an ExternalProject build of it.

Controller for executing joint-space trajectories on a group of joints

Broadcaster to publish joint state

Controller to publish readings of IMU sensors.

The gripper_controllers package

Controllers to interact with gpios.

Generic controller for forwarding commands.

Controller to publish state of force-torque sensors.

*eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Generic controller for forwarding commands.

Controller for a differential-drive mobile base.

Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.

Implementation of admittance controllers for different input and output interface.

Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.

C++ stdlib-compatible wrapper around tlsf allocator and ROS2 examples

Test suite for ROS middleware API.

Instrumentation library for real-time performance testing

Proxy implementation of the ROS 2 Middleware Interface.

The reach_ros package

The reach package

Helper scripts and functionality to test industrial motion generation

MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof.

OMPL is a free sampling-based motion planning library.

A generic, simple controller manager plugin for MoveIt.

SRDF-based plugins for MoveIt Setup Assistant

MoveIt Setup Steps for Simulation

C++ Interface for defining setup steps for MoveIt Setup Assistant

Core (meta) plugins for MoveIt Setup Assistant

MoveIt Setup Steps for ROS 2 Control

Generates a configuration package that makes it easy to use MoveIt

Various specialty plugins for MoveIt Setup Assistant

Provides real-time manipulator Cartesian and joint servoing.

moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots).

Components of MoveIt connecting to MongoDB

Components of MoveIt that offer visualization

A trajectory cache for MoveIt 2 motion plans and cartesian plans.

Integration tests for moveit_ros

Components of MoveIt that offer interaction via interactive markers

Components of MoveIt that offer simpler remote (as from another ROS 2 node) interfaces to planning and execution

Planning components of MoveIt that use ROS

Components of MoveIt connecting to perception

Components of MoveIt connecting to occupancy map

The move_group node for MoveIt

ros_control controller manager interface for MoveIt

Enhanced tools for benchmarks in MoveIt

Components of MoveIt that use ROS

Mechanical, kinematic and visual description of the Pilz light weight arm PRBT.

PRBT support for Schunk pg70 gripper.

The prbt_ikfast_manipulator_plugin package

Python binding for MoveIt 2

Metapackage for MoveIt plugins.

STOMP Motion Planner for MoveIt

MoveIt interface to OMPL

The interface for using CHOMP within MoveIt

Meta package that installs all available planners for MoveIt

Package for all inverse kinematics solvers in MoveIt

Hybrid planning components of MoveIt 2

Core libraries used by MoveIt

Python library for loading moveit config parameters in launch files

Common support functionality used throughout MoveIt

Meta package that contains all essential packages of MoveIt 2

chomp_motion_planner

The autoware_internal_planning_msgs package

Autoware internal perception messages package.

Autoware internal messages package.

The autoware_internal_metric_msgs package

Autoware internal debug messages package.

URDF and meshes describing Velodyne laser scanners.

The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.

An example package with MoveIt2 configurations for UR robots.

Messages around the UR Dashboard server.

Provides controllers that use the speed scaling interface of Universal Robots.

Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.

Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF

Metapackage for universal robots

transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this.

Graphical frontend for interacting with the controller manager.

The ROS 2 command line tools for ROS2 Control.

The package provides shared test resources for ros2_control stack

Metapackage for ROS2 control related packages

ROS2 driver for the Robotiq gripper.

ROS2 driver package for the Robotiq gripper.

URDF and xacro description package for the Robotiq gripper.

Controllers for the Robotiq gripper.

Python API for point_cloud_transport

Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.

Messages and service definitions for the multisensor_calibration package.

Collection of methods and applications to calibrate multi-sensor-systems, e.g. camera to LiDAR, LiDAR to LiDAR, and LiDAR to vehicle.

Package with interfaces for handling of joint limits in controllers or in hardware. The package also implements Saturation Joint Limiter for position-velocity-acceleration set and other individual interfaces.

ros2_control hardware interface testing

ros2_control hardware interface

foxglove_msgs provides visualization messages that are supported by Foxglove.

Drive-by-wire messages

Demonstration of drive-by-wire with joystick

Interface to the Dataspeed Inc. Drive-By-Wire kit

Interface to the Dataspeed Inc. Drive-By-Wire kits

Doom can run anywhere. Now it runs on ROS too.

Messages and services for the controller manager.

Description of controller_manager

Description of controller_interface

AprilTag detection node

Zstd compression vendor package, providing a dependency for Zstd.

Turtlebot4 setup scripts

tf2_tools

Small lib to transform sensor_msgs with tf. Most notably, PointCloud2

This package contains the ROS Python bindings for the tf2 library

This package contains the C++ ROS bindings for the tf2 library

The tf2_py package

tf2_msgs

KDL binding for tf2

tf2_geometry_msgs

Conversion functions between: - Eigen and KDL

tf2_eigen

tf2_bullet

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

tf2 unit tests

Test nodes, publishers and subscribers with DDS-Security.

Test rclcpp API. Each test is run with every available rmw implementation.

Test quality of service features, specifically liveliness, deadline, and lifespan.

Test publish / subscribe and request / response communication with all primitive as well as builtin types. Also exchange dynamic and static arrays and nested message structures. Each test is run with every available rmw implementation for the sending as well as the receiving side.

Test command line remapping of topic names, service names, node namespace, and node name.

Test command line arguments passed to ros2 executables.

SQLite 3 vendor package

Vendor package for concurrent queues from moodycamel

self_test

3D testing framework for RViz.

Example plugin for RViz - documents and tests RViz plugin development

Library which provides the 3D rendering functionality in rviz.

Wrapper around ogre3d, it provides a fixed CMake module and an ExternalProject build of ogre.

Several default plugins for rviz to cover the basic functionality.

Common rviz API, used by rviz plugins and applications.

Wrapper around assimp, providing nothing but a dependency on assimp, on some systems. On others, it provides a fixed CMake module or even an ExternalProject build of assimp.