Awesome Robot Operating System 2 (ROS 2)

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
• Organizations
• 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.
• ros-tooling/cross_compile - Cross compile ROS and ROS 2 workspaces to non-native architectures and generate corresponding Docker images.

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.
• 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.
• darknet_ros - ROS2 wrapper for deploying Darknet's YOLO Computer Vision model.
• easy_perception_deployment - Package that accelerates training and deployment of Computer Vision models for industries.
• easy_manipulation_deployment - Package that integrates perception elements to establish an end-to-end pick and place task.

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.
• Eclipse Zenoh - Zenoh is a scalable and extremely performant protocol that can be used transparently used to interact with ROS2 applications as well as for R2X communication. (https://img.shields.io/github/stars/eclipse-zenoh/zenoh)
• Eclipse Zenoh-Plugin-DDS - This is a zenoh plugin that allows to transparently route ROS2/DDS data over zenoh. This is commonly used for R2X communication over Wireless network or across the Internet. (https://img.shields.io/github/stars/eclipse-zenoh/zenoh-plugin-dds)

"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.
• micro_ros_arduino - Integration of micro-ROS into Arduino software platform projects.
• micro_ros_zephyr_module - Integration of micro-ROS in Zeyphr OS based projects.

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.
• Blickfeld Cube 1 & Cube Range - ROS2 drivers for Blickfeld Cube 1 & Cube Range.

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.
• ros2cs - an alternative to ros2_dotnet, a ROS2 C# interface supporting full range of messages and modern 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.
• rmw_zenoh - RMW implementation using Eclipse zenoh: Zero Overhead Pub/sub, Store/Query and Compute.
• rcutils - Common C functions and data structures used in ROS 2.
• freertps - a free, portable, minimalist, work-in-progress RTPS implementation.
• rmw_cyclonedds - ROS2 RMW layer for Eclipse Cyclone DDS.
• rmw_zenoh - ROS2 RMW layer for zenoh.
• rmw_iceoryx - Enables usage of the inter-process-communication middleware Eclipse iceoryx.

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 support AUTOSAR in the future.
• PYNQ - Python-based rapid prototyping of high performance ML applications running on XILINX FPGAs.
• ReconROS - Framework for ROS2 FPGA-based hardware acceleration. Based on ReconOS.
• 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).
  • Foxy packages.
  • 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.
• ROS2 Quality Assurance Guidelines - A collection of guidelines and tutorials for improving package quality, following REP-2004 quality standards and integrating Continuous Integration.

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
• ROS2-Industrial training material

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

• Distributed and Synchronized Setup towards Real-Time Robotic Control using ROS2 on Linux
• 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)
• Real-Time Characteristics of ROS 2.0 in Multiagent Robot Systems: An Empirical Study
• Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling
• 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.
• FARobot - Swarm Robot System, a ROS 2/DDS based Fleet Management System.
• Fraunhofer Institute for Manufacturing Engineering and Automation IPA - Robot and assistive systems.
• GESTALT ROBOTICS - Service provider for intelligent automation.
• iRobot - Manufacturer of vacuuming and mopping robots.
• Klepsydra Technologies.
• MathWorks - ROS Toolbox.
• Mission Robotics - Hardware and Software for a new era of Marine Intelligence.
• 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.

Organizations

• U.S. Department of Transportation

Working Groups

• Edge AI Working Group
  • Discourse threads tagged "wg-edgeai"
• Embedded Working Group
  • Discourse threads tagged "wg-embedded"
• Hardware Acceleration Working Group
  • Discourse threads tagged "wg-acceleration"
• 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"

License