ros2/rclpy

Stars
288
Rank 143,818 (Top 3 %)
Language
Python
License
Apache License 2.0
Created almost 9 years ago
Updated about 2 months ago

ros2/rclpy

ros2

There are no reviews yet. Be the first to send feedback to the community and the maintainers!

rclpy (ROS Client Library for Python)

rclpy

ROS Client Library for the Python language.

Building documentation

Documentation can be built for rclpy using Sphinx, or accessed online

For building documentation, you need an installation of ROS 2.

Install dependencies

sudo apt install \
  python3-sphinx \
  python3-sphinx-autodoc-typehints \
  python3-sphinx-rtd-theme

Build

Source your ROS 2 installation, for example:

. /opt/ros/rolling/setup.bash

Build code:

mkdir -p rclpy_ws/src
cd rclpy_ws/src
git clone https://github.com/ros2/rclpy.git
cd ..
colcon build --symlink-install

Source workspace and build docs:

source install/setup.bash
cd src/rclpy/rclpy/docs
make html

ros2

The Robot Operating System, is a meta operating system for robots.

examples

Example packages for ROS 2

ros2_documentation

ROS 2 docs repository

rclcpp

rclcpp (ROS Client Library for C++)

demos

ros1_bridge

ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2

rviz

ROS 3D Robot Visualizer

rosbag2

design

Design documentation for ROS 2.0 effort

common_interfaces

A set of packages which contain common interface files (.msg and .srv).

ros2cli

ROS 2 command line interface tools

rmw_zenoh

RMW for ROS 2 using Zenoh as the middleware

rmw_fastrtps

Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.

rmw_iceoryx

rmw implementation for iceoryx

ros2_tracing

Tracing tools for ROS 2.

rcl

Library to support implementation of language specific ROS Client Libraries.

launch

Tools for launching multiple processes and for writing tests involving multiple processes.

geometry2

A set of ROS packages for keeping track of coordinate transforms.

rclc

ROS Client Library for the C language.

rmw_cyclonedds

ROS 2 RMW layer for Eclipse Cyclone DDS

turtlebot2_demo

rmw

The ROS Middleware (rmw) Interface.

sros2

tools to generate and distribute keys for SROS 2

freertps

a free, portable, minimalist, work-in-progress RTPS implementation

rosidl

Packages which provide the ROS IDL (.msg) definition and code generation.

ros2_embedded_nuttx

This repository isn't actively being worked on. If you would like to take over maintainership please open a ticket on https://github.com/ros2/ros2

message_filters

realtime_support

Minimal real-time testing utility for measuring jitter and latency.

rcutils

Common C functions and data structures used in ROS 2

launch_ros

Tools for launching ROS nodes and for writing tests involving ROS nodes.

domain_bridge

Bridge communication across different ROS 2 domains.

ci

ROS 2 CI Infrastructure

rmw_connextdds

ROS 2 RMW layer for RTI Connext DDS Professional and RTI Connext DDS Micro.

example_interfaces

Msg, Srv, etc. ROS interfaces used in examples

system_tests

rcl_interfaces

A repository for messages and services used by the ROS client libraries

rcpputils

tutorials

ros2_embedded_freertos

This repository isn't actively being worked on. If you would like to take over maintainership please open a ticket on https://github.com/ros2/ros2 -- ROS 2 for embedded devices.

rmw_connext

Implementation of the ROS Middleware (rmw) Interface using RTI's Connext DDS.

choco-packages

Chocolatey package configurations for upstream dependencies

rosbag2_bag_v2

rosbag2 plugin for replaying ros1 version2 bag files

rmw_dps

Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe.

buildfarm_perf_tests

Performance tests which run regularly on the buildfarm

rmw_implementation

CMake infrastructure and dependencies for rmw implementations

openrobotics_darknet_ros

ROS 2 interface to darknet, an open source neural network library.

rosidl_python

rosidl support for Python

ros_core_documentation

Documentation for the Core ROS 2 packages which does not fit into one of the individual packages' documentation.

ros_network_viz

rcl_logging

Logging implementations for ROS 2.

rmw_gurumdds

Implementation of the ROS middleware interface using GurumNetworks GurumDDS.

ros_testing

Single point of entry for writing tests which involve Nodes in ROS 2.

rosidl_typesupport

Packages which provide the typesupport for ROS messages and services

eigen3_cmake_module

Adds a custom find module for Eigen3

rmw_dds_common

rmw_opensplice

Implementation of the ROS Middleware (rmw) interface using PrismTech's OpenSplice DDS.

variants

Variants for ROS 2 (implemented as ament packages)

cookbook

A set of recipes for doing common tasks in ROS 2

ros_workspace

Package to set ROS environment and configuration variables for ROS 2.

performance_test_fixture

Test fixture and CMake macro for using osrf_testing_tools_cpp with Google Benchmark

tsc_working_group_governance_template

unique_identifier_msgs

rosidl_dds

tlsf

Snapshot of TLSF allocator

detection_visualizer

ROS 2 package with a node that draws bound boxes for debugging computer vision nodes.

rosidl_runtime_py

Runtime utilities for working with generated ROS interfaces in Python

ros2_dds_profiles_examples

Example dds profiles to configure DDS correctly for different use cases

rosidl_typesupport_gurumdds

Typesupport package which generates interfaces used by rmw_gurumdds.

python_cmake_module

CMake module for finding Python in a consistent way for all ROS 2 packages.

ament_cmake_ros

darknet_vendor

CMake wrapper around darknet, an open source neural network framework.

ros2_generate_interface_docs

middleware_working_group

Working group focused on functionality provided by the communication middleware and the language specific client libraries.

test_interface_files

rosidl_typesupport_opensplice

rosidl typesupport for PrismTech's OpenSplice DDS.

pybind11_vendor

Vendor package for pybind11.

tinyxml_vendor

Vendor package for providing tinyxml within a cmake package

rosidl_typesupport_fastrtps

rosidl typesupport for eProsima's FastRTPS

spdlog_vendor

Vendor package for spdlog

rosidl_dynamic_typesupport

Unified Interface for Dynamic (Runtime) Typesupport and Serialization

tinyxml2_vendor

temporary vendor package for tinyxml2

libyaml_vendor

CMake wrapper downloading and building libyaml

orocos_kdl_vendor

unique_identifier

ROS 2 support for Universally Unique Identifiers

rmw_freertps

rmw implementation using freertps

netperf

ros2.github.io

website for ros2.org

mimick_vendor

yaml_cpp_vendor

Vendor package for providing yaml cpp within a cmake package

ros2doc

i can haz docs?

ros2cli_common_extensions

poco_vendor

CMake shim over the poco library: https://github.com/pocoproject/poco

rosidl_typesupport_connext

rosidl typesupport for RTI's Connext DDS.

docs.ros2.org