APIs - Wiki

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	laser_pipeline
Image processing		image_common, image_pipeline, opencv2	opencv2
Transforms/Coordinates		tf, robot_state_publisher	tf
Actions	actionlib	actionlib	actionlib (client only)
Navigation	navigation	via actionlib	via actionlib
Simulation (2D)	simulator_stage	simulator_stage
Simulation (3D)	simulator_gazebo	simulator_gazebo
Robot Model		urdf, kdl_parser, pr2_mechanism_model
Realtime Controllers	pr2_controller_manager	pr2_controller_interface, realtime_tools

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