A curated list of awesome Robot Operating System Version 2.0 (ROS 2) resources and libraries.
The Robot Operating System 2 (ROS 2) is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS 2 has what you need for your next robotics project. And it’s all open source.
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- Operating systems
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- Papers
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- adlink_ddsbot - The ROS 2.0/1.0 based robots swarm architecture (opensplice DDS).
- adlink_neuronbot - ROS2/DDS robot pkg for human following and swarm.
- turtlebot3 - ROS2 based TurtleBot3 demo including Bringup, Teleop and Cartographer.
- 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.
- ros2_benchmarking - Framework for ROS2 benchmarking. ROS2 communication characteristics can be evaluated on several axes, quickly and in an automated way.
- performance_test - Test performance and latency of various communication means like ROS 2, FastRTPS and Connext DDS Micro.
- 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.
- micro-ROS/docker - Docker-related material to setup, configure and develop with micro-ROS hardware.
- rosbag2 - ROS2 native rosbag.
- 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.
- pydds - Simple DDS Python API for Vortex Lite and for OpenSplice.
- Apex.Autonomy - Apex.Autonomy provides autonomy algorithms as individual building blocks and is compatible with Autoware.Auto.
- Autoware.Auto - Autoware.Auto provides an open-source software stack based on ROS 2 for self-driving technology.
- ros2_control -
ros2_controlis a proof of concept on how new features within ROS 2 can be elaborated and used in the context of robot control (ros2_controllers). - ros2_controllers - Description of ros_controllers.
- 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.
- common_interfaces - A set of packages which contain common interface files (.msg and .srv).
- ros2_object_map - "Mark tag of objects on map when SLAM".
- ros2_object_analytics - Object Analytics (OA) is ROS2 wrapper for realtime object detection, localization and tracking.
- ros2_intel_movidius_ncs - ROS2 wrapper for Movidius™ Neural Compute Stick (NCS) Neuronal Compute API.
- ros2_moving_object - Addressing moving objects based on messages generated by Object Analytics
ros2_object_analytics. - ros2_openvino_toolkit - ROS2 wrapper for CV API of OpenVINO™ (human vision emulation).
- ros2_grasp_library - Probably a grasp library :).
- apriltag_ros - ROS2 node for AprilTag detection.
- ros2-web-bridge - Bridging your browser to the ROS 2.0.
- ros2_message_filters - ros2_message_filters blends various messages based on the conditions that filter needs to met and derives from ROS2 porting of ROS message_filters.
- ros2-tensorflow - ROS2 nodes for computer vision tasks in Tensorflow.
- ros2_pytorch - ROS2 nodes for computer vision tasks in PyTorch
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- pid - A PID controller for ROS2.
- system-modes - System modes for ROS 2 and micro-ROS.
- Micro XRCE-DDS Agent - Micro XRCE-DDS Agent acts as a server between DDS Network and Micro XRCE-DDS Clients.
- Micro XRCE-DDS Agent docker - Docker image containing the Micro XRCE-DDS Agent.
- Micro XRCE-DDS Client - Micro XRCE-DDS implements a client-server protocol to enable resource-constrained devices (clients) to take part in DDS communications.
- micro-ROS-Agent - ROS 2 package using Micro XRCE-DDS Agent.
- 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.
- Autoware.IO - 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.
- ros2_xmlrpc_interface - ros2 interface package with xmlrpc, to communicate with a Sesto server using Sesto API.
- cozmo_driver_ros2 - Unofficial Anki Cozmo node for ROS2.
- sphero_ros2 - ROS2 sphero driver.
- flock2 - ROS2 driver for DJI Tello drones.
- ros2_raspicam_node - ROS2 node for Raspberry Pi camera.
- joystick_drivers - ROS2 drivers for joysticks.
- joystick_drivers_from_scratch - Joystick driver packages for ROS 2.
- joystick_ros2 - Joystick driver for ROS2, support all platforms: Linux, macOS, Windows.
- ros2_teleop_keyboard - Teleop Twist Keyboard for ROS2.
- ros_astra_camera - ROS2 wrapper for Astra camera.
- ros2_usb_camera - ROS2 General USB camera driver.
- ros2_android_drivers - Collection of ROS2 drivers for several Android sensors.
- ros2_intel_realsense - ROS2 Wrapper for Intel® RealSense™ Devices.
- raspicam2_node - ROS2 node for camera module of Raspberry Pi.
- ros2_track_imu - ROS2 node for TrackIMU IMU sensor
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- HRIM - A standard interface for robot modules.
- FIROS2 - ROS2 integrable tool focused in the intercommunication between ROS2 and FIWARE.
- lino2_upper - Linorobot on ROS2.
- RysROS2 - ROS2 software stack for MiniRys robots.
- px4_to_ros - ROS2/ROS packages for communicate PX4 with ROS.
- multiwii_ros2 - ROS2 Node for MultiWii and Cleanflight flight controllers.
- ydlidar_ros2 - ROS2 wrapper for ydlidar.
- zed-ros2-wrapper - ROS 2 wrapper beta for the ZED SDK.
- ros2_denso_radar - Toyota/Lexus 2015-2017 Denso Radar driver for ROS2.
- sick_scan2 - ROS2 driver for the SICK TiM series of laser scanners (TiM551/TiM561/TiM571).
- micro-ROS/hardware - Information and documentation about the hardware platforms used and supported in the micro-ROS project.
- rclada - ROS Client Library for Ada.
- rclcpp - ROS Client Library for C++.
- rclgo - ROS Client Library for Go.
- 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.
- ros2_rust - Rust bindings for ROS2.
- ros2_dotnet - .NET bindings for ROS2.
- 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.
- 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_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 - 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_dps - Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe.
- rmw_opensplice_cpp - Implement the ROS middleware interface using PrismTech OpenSplice static code generation in C++.
- rmw_coredx - CoreDX DDS integration layer for ROS2.
- rmw_freertps - RMW implementation using freertps.
- rcutils - Common C functions and data structures used in ROS 2.
- freertps - a free, portable, minimalist, work-in-progress RTPS implementation.
- rmw_zhe - An ROS2 RMW implementation on top of Zhe.
- rmw_cyclonedds - ROS2 RMW layer for Eclipse Cyclone DDS.
- 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.
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- CoreDX DDS - Implementation of Twin Oaks Computing, Inc.. 💲
- freertps - A free, portable, minimalist, work-in-progress RTPS implementation.
- cdds - Cyclone DDS is developed completely in the open and is undergoing the acceptance process to become part of Eclipse IoT.
- Micro-XRCE-DDS) - An XRCE DDS implementation (supported by microROS).
- meta-ros2 - ROS 2 Layer for OpenEmbedded Linux.
- 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.
- NuttX - NuttX fork of the official one for use with micro-ROS.
- RIOT - RIOT is a real-time multi-threading operating system (...,) real-time capabilities, small memory footprint, (...) API offers partial POSIX compliance.
- eMCOS - POSIX-compliant real-time OS for many-core processors expected to suppport AUTOSAR in the future.
- Apex.OS - Apex.OS is a fork of ROS 2 that has been made so robust and reliable that it can be used in safety-critical applications.
- ROS Index - Future single entry point into ROS2 documentation (BETA).
- 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.
- Bouncy package status - Status of ROS Bouncy packages.
- Ardent package status - Status of ROS2 Ardent packages.
- ROS2 Buildfarm - Build information (Jenkins build farm).
- ROS2 CLI cheats sheet - A cheats sheet for ROS 2 Command Line Interface.
No books published yet
- ROS2 How To: Discover Next Generation ROS (Udemy)
- ROS 2 Basics in 5 Days (C++) - Learn how to start working with ROS 2 (The Construct)
- Current Status of ROS 2 Hands-on Feature Overview Slides
- Robot Modularity with Xilinx and H-ROS (Xilinx Inc.) Video
- Hands-on ROS 2: A Walkthrough
- ROS 2 on Autonomous Driving Vehicles
- RViz – The tale of a migration to ROS 2.0
- Launch for ROS 2
- Getting involved in ROS 2 development
- Planning to Plan: Plugins All The Way Down
- Leveraging DDS Security in ROS2
- Arm DDS Security library: Adding secure security to ROS2
- ROS2: Supercharging the Jaguar4x4
- Performance Test - A Tool for Communication Middleware Performance Measuring
- ROS2 for Android, iOS and Universal Windows Platform: a demonstration of ROS2’s portability, and cross-platform and cross-language capabilities
- Integrating ROS and ROS2 on mixed-critical robotic systems based on embedded heterogeneous platforms
- Towards ROS 2 microcontroller meta cross-compilation
- Node.js Client & Web Bridge Ready for ROS 2.0
- RCLAda: the Ada client library for ROS2
- micro Robot Operating System: ROS for highly resource-constrained devices Slides
- ROS2 - it's coming Slides
- 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
- HyphaROS ROS 2.0 Introduction slides
- ROS 2.0 AND OPC UA: A STATUS UPDATE Slides
- 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
- Time Synchronization in modular collaborative robots
- Open Problems in Robotic Anomaly Detection
- Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications
- An information model for modular robots: the Hardware Robot Information Model (HRIM)
- Introducting the Robot Security Framework (RSF), A standardized methodology to perform security assessments in robotics
- Towards an open standard for assessing the severity of robot security vulnerabilities, The Robot Vulnerability Scoring System (RVSS)
- Robot Operating System 2 - The need for a holistic security approach to robotic architectures - Ubuntu 16.04, ROS 2 Beta 2/3, and RTI 5.3 DDS with DDS Security.
- Maruyama, Yuya et al. “Exploring the performance of ROS2.” 2016 International Conference on Embedded Software (EMSOFT) (2016): 1-10.
- ROS 2 and DDS for IoT devices with HaoChih Lin (from 5th minute onwards)
- Everything about ROS 2 with Dirk Thomas (from 16th minute onwards)
- RCTF playground - Online playground to challenge robot security from your browser.
- rctf-list - A list of Robotics CTF (RCTF) scenarios.
- Robot Bug Bounty Programs (RBBP) - Report bugs or vulnerabilities and get paid by top robotics companies.
