ROS Packages+ROS功能包列表

The tuw_object_msgs package. This pkg provides a set of messages used to detect, map and track objects of different types.

The tuw_nav_msgs package

The tuw_multi_robot_msgs package contains messages for sending graph, route and sync data over topics.

tuw_msgs meta package with write and read file libs for tuw_msgs

The tuw_graph_msgs package contains messages for sending graphs.

The tuw_geometry_msgs package

The tuw_airskin_msgs package

The tiago_simulation package

Description and controller configuration of TIAGo

The tiago_multi package

The tiago_gazebo package

This package contains the description (mechanical, kinematic, visual, etc.) of the TIAGO robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

Configuration and launch files of TIAGo's controllers

Launch files to upload the robot description and start the controllers

Shim package to redirect to ros_gz_interfaces.

Shim package to redirect to ros_gz_image.

Shim package to redirect to ros_gz_sim_demos.

Shim package to redirect to ros_gz_sim.

Shim package to redirect to ros_gz_bridge.

Shim meta-package to redirect to

Demos using Gazebo Sim simulation with ROS.

Tools for using Gazebo Sim simulation with ROS.

Point cloud utilities for Gazebo simulation with ROS.

Message and service data structures for interacting with Gazebo from ROS2.

Image utilities for Gazebo simulation with ROS.

Bridge communication between ROS and Gazebo Transport

Meta-package containing interfaces for using ROS 2 with

Examples of how to use the rmf_traffic library

Package for managing traffic in the Robotics Middleware Framework

Implementation of phase-sequence tasks for the Robotics Middleware Framework

Package for managing tasks in the Robotics Middleware Framework

Simulation worlds for PAL robots.

A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++

*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.

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

Generic controller for forwarding commands.

URDF description for Universal Robots

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

Controller for a tricycle drive mobile base

Package for steering robot configurations including odometry and interfaces.

ROS Support Library

Graphical frontend for interacting with joint_trajectory_controller instances.

Contains Rover provided teleoperation applications.

Rover Ignition Gazebo Simulation Package

ROS2 Wrapper for Rover Robots

Rover URDF and Robot Descriptions

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

Metapackage for ROS2 controllers related packages

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 controller for forwarding commands.

Functions and types for rclcpp::Parameter

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

Mobile Robot Programming Toolkit (MRPT) version 2.x

Common CMake scripts to all MOLA modules

The microstrain_inertial_rqt package provides several RQT widgets to view the status of Microstrain devices

A package that contains ROS message corresponding to microstrain message types.

Example listener for Parker LORD Sensing inertial device driver ros_mscl (C++).

The ros_mscl package provides a driver for the LORD/Microstrain inertial products.

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

Example usage of generate_parameter_library for a python module

Python to generate ROS parameter library.

Example usage of generate_parameter_library.

CMake to generate ROS parameter library.

Generic controller for forwarding commands.

Controller to publish state of force-torque sensors.

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

Generic controller for forwarding commands.

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

Controller for a differential drive mobile base.

Drive-by-wire messages for Polaris platforms

Demonstration of drive-by-wire with joystick

URDF and meshes describing Polaris vehicles.

Drive-by-wire interface to the Dataspeed Inc. Polaris GEM/Ranger/RZR DBW kit

Drive-by-wire interface to the Dataspeed Inc. Polaris GEM/Ranger/RZR DBW kit

Drive-by-wire messages for the Lincoln MKZ

Demonstration of drive-by-wire with joystick

URDF and meshes describing the Lincoln MKZ.

Drive-by-wire interface to the Dataspeed Inc. Ford DBW kit

Drive-by-wire interface to the Dataspeed Inc. Lincoln MKZ DBW kit

Drive-by-wire messages for the Chrysler Pacifica

Demonstration of drive-by-wire with joystick

URDF and meshes describing the Chrysler Pacifica.

Drive-by-wire interface to the Dataspeed Inc. Chrysler Pacifica DBW kit

Drive-by-wire interface to the Dataspeed Inc. Chrysler Pacifica DBW kit

ROS messages for interacting with the Universal Lat/Lon Controller (ULC)

Package to translate ROS messages to and from CAN messages to interact with the Universal Lat/Lon Controller (ULC) firmware

CAN interface to the Universal Lat/Lon Controller (ULC) firmware

Common interfaces for drive-by-wire.

Clearpath sensors URDF descriptions

Clearpath Platform URDF descriptions

Clearpath Platform Drivers.

Clearpath mounts URDF descriptions

TODO: Package description

Clearpath URDF descriptions metapackage

Controllers for Clearpath Robotics platforms

Clearpath Common Metapackage

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

The ability to check XML files like the package manifest using xmllint and generate xUnit test result files.

The ability to check code against style conventions using uncrustify and generate xUnit test result files.

The ability to check code using pyflakes and generate xUnit test result files.

The ability to check code against the style conventions in PEP 8 and generate xUnit test result files.

The ability to check code against the docstring style conventions in PEP 257 and generate xUnit test result files.

The ability to perform static code analysis on C/C++ code using PC-lint and generate xUnit test result files.

Support for mypy static type checking in ament.

The list of commonly used linters in the ament build system in CMake.

The ability to lint CMake code using cmakelint and generate xUnit test result files.

The auto-magic functions for ease to use of the ament linters in CMake.

Providing common API for ament linter packages.

The ability to check code for style and syntax conventions with flake8.

The ability to check code against the Google style conventions using cpplint and generate xUnit test result files.

The ability to perform static code analysis on C/C++ code using Cppcheck and generate xUnit test result files.

The ability to check source files for copyright and license information.

The CMake API for ament_xmllint to check XML file using xmmlint.

The CMake API for ament_uncrustify to check code against styleconventions using uncrustify.

The CMake API for ament_pyflakes to check code using pyflakes.

The CMake API for ament_pycodestyle to check code against the style conventions in PEP 8.

The CMake API for ament_pep257 to check code against the docstring style conventions in PEP 257.

The CMake API for ament_pclint to perform static code analysis on C/C++ code using PC-lint.

The CMake API for ament_mypy to perform static type analysis on python code with mypy.

The CMake API for ament_lint_cmake to lint CMake code using cmakelint.

The CMake API for ament_flake8 to check code syntax and style conventions with flake8.

The CMake API for ament_cpplint to lint C / C++ code using cpplint.

The CMake API for ament_cppcheck to perform static code analysis on C/C++ code using Cppcheck.

The CMake API for ament_copyright to check every source file contains copyright reference.

The CMake API for ament_clang_tidy to lint C / C++ code using clang tidy.

The CMake API for ament_clang_format to lint C / C++ code using clang format.

The ability to check code against style conventions using clang-tidy and generate xUnit test result files.

The ability to check code against style conventions using clang-format and generate xUnit test result files.

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.

Turtlebot4 Node

Turtlebot4 Navigation

Turtlebot4 Messages

Turtlebot4 Description package

Hardware driver for the Robotont robot

Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors.

A package containing scripts for demos

Web based RMF Demo Panel

A package containing demo maps for rmf

Launch files for RMF demos using the Gazebo-classic simulator

Launch files for RMF demos using the Gazebo simulator

Fleet adapters for interfacing with RMF Demos robots with a fleet manager via REST API

Resource pack for RMF dashboard

Nodes for bridging between different communication stacks

Models and other media used for RMF demos

Common launch files for RMF demos

The Advanced Proximal Optimization Toolbox

PMB2-specific simulation components. These include plugins and launch scripts necessary for running PMB2 in simulation.

The pmb2_multi package

Simulation files for the PMB2 robot.

PlotJuggler: juggle with data

This package contains the description (mechanical, kinematic, visual, etc.) of the Hey5 hand. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

The pal_hey5_controller_configuration package

The pal_hey5 package

Example files used as tutorials for MRPT ROS packages

Reactive navigation for 2D robots using MRPT navigation algorithms (TP-Space)

Nodes and programs to record and play MRPT rawlogs or to transform between rosbags and rawlogs.

Package for robot 2D self-localization using dynamic or static (MRPT or ROS) maps. The interface is similar to amcl (https://wiki.ros.org/amcl) but supports different particle-filter algorithms, several grid maps at different heights, range-only localization, etc.

Tools related to the Mobile Robot Programming Toolkit (MRPT). Refer to https://wiki.ros.org/mrpt_navigation for further documentation.

C++ library to convert between custom mrpt_msgs messages and native MRPT classes

The mrpt_map is able to publish a mrpt map as ros occupancy grid like the map_server

Maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

PR2 Resources used for MoveIt! testing

panda Resources used for MoveIt testing

Fanuc Resources used for MoveIt testing

Resources used for MoveIt testing

Static reflection for enums (to string, from string, iteration) for modern C++, work with any enum type without any macro or boilerplate code

ROS2 driver for event base sensors using libcaer

Bindings between Numpy and Eigen using Boost.Python

Display satellite map tiles in RViz

A package managing the websocket api endpoints in RMF system.

A package containing messages used by the RMF traffic management system.

A package managing the dispatching of tasks in RMF system.

Python bindings for the rmf_fleet_adapter

Fleet Adapter package for RMF fleets.

RealSense description package for Intel 3D D400 cameras

RealSense camera_msgs package containing realsense camera messages definitions

RealSense camera package allowing access to Intel D400 3D cameras

Helper scripts and functionality to test industrial motion generation

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

A ROS1 publisher to use with performance_test

ROS1 versions of performance_test messages to use when testing with a ROS1 bridge

Tool to test performance of ROS2 and DDS data layers and communication.

Apex.AI performance_test runner, plotter, and reporter

This package contains the color materials of common elements of PAL Robotics' robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

A generic, simple controller manager plugin for MoveIt.

SRDF-based plugins for MoveIt Setup Assistant