Awesome Robot Operating System 2 – Massive Collection of Resources

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.

Contents

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

Packages

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.

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.

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.

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.
• 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 .
• pid – A PID controller for ROS2.
• system-modes – System modes for ROS 2 and micro-ROS.

Middleware

• 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.

“System” bindings

• 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.
• ROS2-Integration-Service – ROS2 Integration and Routing which provides a complete tool to integrate other technologies with ROS2 easily and enable ROS2 on WAN/Internet.
• soss – The System Of Systems Synthesizer is used to integrate ROS2 via ROS2-Integration-Service with other (communication) systems.

Driver layer

• 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.
• 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).
• ros2_ouster_drivers – ROS2 Drivers for the Ouster OS-1 Lidars.
• micro-ROS/hardware – Information and documentation about the hardware platforms used and supported in the micro-ROS project.

Client libraries

• 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.

Client libraries common

• 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.

IDL generators

• 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 (ROS middleware)

• 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.

DDS communication mechanism implementations

• 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. 💲
• 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).

Build system (Linux)

• meta-ros2 – ROS 2 Layer for OpenEmbedded Linux.

Build system (ROS2)

• 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.

Operating systems

• 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.
• PYNQ – Python-based rapid prototyping of high performance ML applications running on XILINX FPGAs.
• Ubuntu Core – Build secure IoT devices with Ubuntu Core.
• Ubuntu Server
• VxWorks – The Secure, Safe, Reliable, and Certifiable real-time OS for Critical Infrastructure
• Zephyr – Linux Foundation Projects RTOS aiming at beeing secure and safe.

Forks

• 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.

Documentation

• ROS Index – Future single entry point into ROS2 documentation (BETA).
  • Dashing packages.
  • Crystal packages.
  • Bouncy packages.
  • Ardent packages.
• 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.

Community

• ROS Discourse
• ROS Answers
• ROS News
• ROS Planet
• Stack Overflow

Books

No books published yet

Courses

• ROS2 How To: Discover Next Generation ROS (Udemy)
• ROS 2 New Features: Skill-up with the latest features of Robot Operating System 2 (Udemy)
• ROS 2 Basics in 5 Days (C++) – Learn how to start working with ROS 2 (The Construct)
• ROS2 Autoware Course
  • Autoware Course Lecture 1: Development Environment
  • Autoware Course Lecture 2: ROS2 101
  • Autoware Course Lecture 3: ROS 2 Tooling – Develop Like a Pro
  • Autoware Course Lecture 4: Platform HW, RTOS and DDS
  • Autoware Course Lecture 5: Autonomous Driving Stacks
  • Autoware Course Lecture 6: Autoware 101
  • Autoware Course Lecture 7: Object Perception: LIDAR
  • Autoware Course Lecture 8: Object Perception: CAMERA
  • Autoware Course Lecture 9: Object Perception: Radar
  • Autoware Course Lecture 10: State Estimation for Localization
  • Autoware Course Lecture 11: LGSVL Simulator
  • Autoware Course Lecture 12: Motion Control

Presentations

ROSCon 2019

Program announcement(slides + videos)

ROSCon Fr 2019

Program announcement(slides + videos)

ROS-I EU Spring 2019 Workshop

• Current Status of ROS 2 Hands-on Feature Overview Slides

2019

• Robot Modularity with Xilinx and H-ROS (Xilinx Inc.) Video

ROSCon JP 2018 (english slide presentations only)

• What’s next for ROS? (from slide 24 onwards) Slides Video

ROSCon 2018

program announcement

• 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

Embedded World Conference 2018

• ADLink Neuron: An industrial oriented ROS2-based platform Slides Video Video

2018

• ROS2 – The Robot Operating System Version 2 (TNG Technology Consulting GmbH) Slides Video

ROS Industrial Conference 2017

• micro Robot Operating System: ROS for highly resource-constrained devices Slides
• ROS2 – it’s coming Slides

ROSCon 2017

• 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

2017

• HyphaROS ROS 2.0 Introduction slides

ROS Industrial Conference 2016

• ROS 2.0 AND OPC UA: A STATUS UPDATE Slides

ROSCon 2016

• ROS 2 Update Slides Video
• Evaluating the resilience of ROS2 communication layer Slides Video

ROSCon 2015

• 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

Papers

• 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.

Podcasts

• 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)

Services

Robotics Capture the Flag (RCTF)

• rctf-list – A list of Robotics CTF (RCTF) scenarios.

Companies

• Acutronic Robotics – Not existing anymore. Initiators of the Hardware Robot Information Model (HRIM), Hardware Robot Operating System (H-ROS) and creators of the world’s first modular industrial robot arm MARA.
• ADLINK – “Leading EDGE COMPUTING”.
• Alias Robotics – Products and services in the context of robot cybersecurity.
• Amazon – Robotics Team of Amazon Amazon Web Services (AWS).
• Apex.AI – “Safe and certified software for autonomous mobility”.
• AutonomouStuff – “The world leader in autonomy systems and solutions”.
• Bosch – Robotics Team of Bosch Research.
• Canonical – The company behind Ubuntu.
• Eprosima – “The middleware experts”.
• Ericsson Research – Connect ROS2 applications to 5G networks for M2M communication.
• Fraunhofer Institute for Manufacturing Engineering and Automation IPA – Robot and assistive systems.
• GESTALT ROBOTICS – Service provider for intelligent automation.
• Klepsydra Technologies.
• MathWorks – ROS Toolbox.
• Roboception GmbH – Real-Time Perception for Your Robot.
• ROBOOX – OPEN-SOURCE SOFTWARE ECOSYSTEM FOR CONSUMER ROBOTS.
• Rover Robotics – Rugged, industrial-grade robots.
• Sony Corporation.
• synapticon – ROS compatible motion control and drive products with efforts to support ROS2.
• Wind River – ROS2 for VxWorks.

Working Groups

• Edge AI Working Group
  • Discourse threads tagged “wg-edgeai”
• Embedded Working Group
  • Discourse threads tagged “wg-embedded”
• Navigation Working Group
  • Discourse threads tagged “wg-navigation”
• Safety Working Group
  • Safety Working Group Landing Page
  • Safety Design Pattern Catalogue
• Security Working Group
  • Discourse threads tagged “wg-security”
  • ros-security/community – Outlines the governance of the ROS 2 Security Working Group.
• Technical Steering Committee
  • Discourse threads tagged “tsc”
• Tooling Working Group
  • Discourse threads tagged “wg-tooling”