Awesome Robot Operating System 2 (ROS 2)

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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.

DEPRECATION NOTICE: This repository is in the process of beeing handed over to Open Robotics. Feel free to checkout the GitHub ROS2 organization to find the repo there in the future.

Contents

• Packages
• Forks
• Operating systems
• Packaging
• Documentation
• Community
• Books
• Courses
• Presentations
• Papers
• Podcasts
• Services
• Companies
• Organizations
• Working groups

Packages

Data collection

• ros2_data_collection - Collect, validate and send data reliably from ROS 2 to create APIs and dashboards.

Demonstrations

• 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.

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.
• zed-ros2-examples - Examples and tutorials use the ZED cameras in the ROS2.
• realsense-ros:ros2-branch - ROS2 Wrapper for Intel® RealSense™ Devices

Benchmarking

• 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.

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.
• micro-ROS/docker - Docker-related material to setup, configure and develop with micro-ROS hardware.
• ros-tooling/cross_compile - Cross compile ROS and ROS 2 workspaces to non-native architectures and generate corresponding Docker images.
• ros2-docker - Connecting ROS 2 nodes running in Docker containers over the internet.
• osrf/docker_images - Dockerfiles of Official Library on Docker Hub and OSRF Organization on Docker Hub.
• docker-ros2-desktop-vnc - Dockerfiles to provide HTML5 VNC interface to access Ubuntu LXDE + ROS2.
• ros2-lxd - Install ROS 2 Humble in Ubuntu 20.04 or 18.04 using LXD containers.

Networking

• Husarnet VPN - A P2P, secure network layer dedicated for ROS & ROS 2.

Ecosystem

• Link ROS - Cloud Logging for ROS 1 and ROS 2.
• 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.
• Webots - Robot simulator for ROS 2.
• LGSVL - Simulation software to accelerate safe autonomous vehicle development.
• Unity Robotics Hub - This is a central repository for tools, tutorials, resources, and documentation for robotic simulation in Unity.
• Foxglove Studio - Integrated visualization and diagnosis tool for robotics.
• ROS2 For Unity - An asset package which enables high-performance communication between Unity3D simulations and ROS2 ecosystem.

Interactivity

• Jupyter ROS2 - Jupyter widget helpers for ROS2.

Penetration testing

• aztarna - A footprinting tool for robots.
• ros2_fuzzer - ROS2 Topic & Service Fuzzer.

Application layer

• 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_control is 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.
• ros2-ORB_SLAM2 - ROS2 node wrapping the ORB_SLAM2 library.
• basalt_ros2 - ROS2 wrapper for Basalt VIO.
• cartographer - Real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
• slam_gmapping - Slam Gmapping for ROS2.
• slam_toolbox - Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS.
• lidarslam_ros2 - ROS2 package of 3D lidar slam using ndt/gicp registration and pose-optimization.
• li_slam_ros2 - ROS2 package of tightly-coupled lidar inertial ndt/gicp slam referenced from LIO-SAM.
• octomap_server2 - ROS2 stack for mapping with OctoMap. Port of the ROS1 octomap_mapping package.
• 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.