A curated list of awesome Robot Operating System Version 2.0 (ROS 2) resources and libraries.
- Packages
- Operating systems
- Documentation
- Community
- Books
- Courses
- Presentations
- Papers
- Podcasts
- Services
- adlink_ddsbot - The ROS 2.0/1.0 based robots swarm architecture (opensplice DDS)
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- adlink_neuronbot - ROS2/DDS robot pkg for human following and swarm
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- turtlebot3 - ROS2 based TurtleBot3 demo including Bringup, Teleop and Cartographer
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- turtlebot2_demo - TurtleBot 2 demos using ROS 2
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- examples/rclcpp - C++ examples
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- examples/rclpy - Python examples
- rcljava_examples - Package containing examples of how to use the rcljava API
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- ros2_talker_android, ros2_listener_android - Example Android apps for the ROS2 Java bindings
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- ros2_benchmarking - Framework for ROS2 benchmarking. ROS2 communication characteristics can be evaluated on several axes, quickly and in an automated way
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- performance_test - Test performance and latency of various communication means like ROS 2, FastRTPS and Connext DDS Micro
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- docker-ros2-ospl-ce - A dockerfile to build a ROS2 + OpenSplice CE container
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- ros2_java_docker - Dockerfiles for building ros2_java with OpenJDK and Android
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- microROS/docker - Docker-related material to setup, configure and develop with micro-ROS hardware.
- rosbag2 - ROS2 native rosbag
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- rviz - 3D Robot Visualizer
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- urdfdom - URDF (U-Robot Description Format) library which provides core data structures and a simple XML parser
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- urdfdom_headers - Headers for URDF parsers
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- ros2cli - ROS 2 command line tools
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- orocos_kinematics_dynamics - Orocos Kinematics and Dynamics C++ library
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- pydds - Simple DDS Python API for Vortex Lite and for OpenSplice
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- 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
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- geometry2 - A set of ROS packages for keeping track of coordinate transforms
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- cartographer - Real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations
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- vision_opencv - Packages for interfacing ROS2 with OpenCV
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- teleop_twist_keyboard - Generic Keyboard Teleop for ROS2
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- teleop_twist_joy - Simple joystick
teleop for twist robots
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- navigation - ROS2 Navigation stack
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- diagnostics - Forked version of the original ROS1 Diagnostics for ROS 2 (currently diagnostics_updater only)
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- robot_state_publisher - Forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem
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- common_interfaces - A set of packages which contain common interface files (.msg and .srv)
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- ros2_object_map - "Mark tag of objects on map when SLAM"
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- ros2_object_analytics - Object Analytics (OA) is ROS2 wrapper for realtime object detection, localization and tracking
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- ros2_intel_movidius_ncs - ROS2 wrapper for Movidius™ Neural Compute Stick (NCS) Neuronal Compute API
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- 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)
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- ros2_grasp_library - Probably a grasp library :)
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- apriltag2_node - ROS2 node for AprilTag detection
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- ros2-web-bridge - Bridging your browser to the ROS 2.0
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- 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
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- ros2-tensorflow - ROS2 nodes for computer vision tasks in Tensorflow
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- pid - A PID controller for ROS2
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- rclandroid - Android API for ROS2
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- rclnodejs - Node.js version of ROS2.0 client
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- riot-ros2 - This project enables ROS2 to run on microcontrollers using the RIOT Operating System
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- ros2_xmlrpc - ros2 interface package with xmlrpc, to communicate with a Sesto server using Sesto API
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- cozmo_driver_ros2 - Unofficial Anki Cozmo node for ROS2
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- sphero_ros2 - ROS2 sphero driver
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- flock2 - ROS2 driver for DJI Tello drones
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- ros2_raspicam_node - ROS2 node for Raspberry Pi camera
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- joystick_drivers - ROS2 drivers for joysticks
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- joystick_drivers_from_scratch - Joystick driver packages for ROS 2
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- joystick_ros2 - Joystick driver for ROS2, support all platforms: Linux, macOS, Windows
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- ros2_teleop_keyboard - Teleop Twist Keyboard for ROS2
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- ros_astra_camera - ROS2 wrapper for Astra camera
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- ros2_android_drivers - Collection of ROS2 drivers for several Android sensors
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- ros2_intel_realsense - ROS2 Wrapper for Intel® RealSense™ Devices
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- raspicam2_node - ROS2 node for camera module of Raspberry Pi
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- HRIM - A standard interface for robot modules.
- FIROS2 - ROS2 integrable tool focused in the intercommunication between ROS2 and FIWARE
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- lino2_upper - Linorobot on ROS2
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- RysROS2 - ROS2 software stack for MiniRys robots
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- px4_to_ros - ROS2/ROS packages for communicate PX4 with ROS
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- multiwii_ros2 - ROS2 Node for MultiWii and Cleanflight flight controllers
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- ydlidar_ros2 - ROS2 wrapper for ydlidar
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- rclada - ROS Client Library for Ada
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- rclcpp - ROS Client Library for C++
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- rclgo - ROS Client Library for Go
- rclpy - ROS Client Library for Python
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- rcljava - ROS Client Library for Java
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- rclnodejs - ROS Client Library for Node.js
- rclobjc - ROS Client Library for Objective C (for iOS)
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- rclc - ROS Client Library for C
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- ros2_rust - Rust bindings for ROS2
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- ros2_dotnet - .NET bindings for ROS2
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- rcl - Library to support implementation of language specific ROS Client Libraries
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- system_tests - Tests for rclcpp and rclpy
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- rcl_interfaces - A repository for messages and services used by the ROS client libraries
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- 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++
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- 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
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- rmw - Contains the ROS middleware API
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- rmw_connext_cpp - Implement the ROS middleware interface using RTI Connext static code generation in C++
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- rmw_fastrtps_cpp - Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++
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- rmw_dps - Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe
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- rmw_opensplice_cpp - Implement the ROS middleware interface using PrismTech OpenSplice static code generation in C++
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- rmw_coredx - CoreDX DDS integration layer for ROS2
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- rmw_freertps - RMW implementation using freertps
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- rcutils - Common C functions and data structures used in ROS 2
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- freertps - a free, portable, minimalist, work-in-progress RTPS implementation
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- rmw_zhe - An ROS2 RMW implementation on top of Zhe
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- rmw_cyclonedds - ROS2 RMW layer for Eclipse Cyclone DDS
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- Connext DDS - Connectivity Software for Developing and Integrating IIoT Systems 💲 .
- Fast-RTPS - Implementation of RTPS Standard (RTPS is the wire interoperability protocol for DDS)
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- OpenSplice - Implementation of the OMG DDS Standard
💲 .
- 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
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- Micro-XRCE-DDS) - An XRCE DDS implementation (supported by microROS)
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- meta-ros2 - ROS 2 Layer for OpenEmbedded Linux
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- ci - ROS 2 CI Infrastructure
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- 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
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- 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.
- 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).
No books published yet
- 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)
- INTRODUCING 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.
