APIs - ROS Wiki

For a list of common ROS tools, please see the ROS tools overview.

ROS supports several Client Libraries, though the main supported libraries are C++ roscpp and rospy. There are also numerous ROS stacks and packages that provide higher-level functionality. Support for higher-level functionality in various languages is summarized below.

APIs

ROS: functionality available via ROS topics and services
C++: functionality available in C++ libraries
Python: functionality available in Python modules/packages

API	ROS	C++	Python
ROS	ROS	roscpp	rospy
Basic Datatypes	common_msgs	common_msgs	common_msgs
Manipulating message streams	topic_tools	message_filters	message_filters
Drivers	joystick_drivers, camera_drivers, laser_drivers, sound_drivers, imu_drivers	joystick_drivers, camera_drivers, laser_drivers, sound_drivers, imu_drivers
Driver Implementation	driver_common	driver_common
Filtering data		filters
3D processing	laser_pipeline, point_cloud_perception	laser_pipeline, point_cloud_perception
Image processing		image_common, image_pipeline, vision_opencv	vision_opencv
Transforms/Coordinates		tf, tf_conversions, robot_state_publisher	tf, tf_conversions
Actions	actionlib	actionlib	actionlib
Executive/Task Manager	executive_smach		executive_smach
Navigation	navigation	via actionlib	via actionlib
Simulation (2D)	simulator_stage	simulator_stage
Simulation (3D)	simulator_gazebo	simulator_gazebo
Robot Model		robot_model
Realtime Controllers	pr2_controller_manager	pr2_controller_interface, realtime_tools
Motion planning (arms)	ompl, chomp_motion_planner, sbpl	actionlib through move_arm	actionlib through move_arm
Humanoid walk	walk_msgs	walk_interfaces

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