ros-pkg is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository.

ros-pkg

camera_drivers

Common camera driver documentation stack. Formerly, several camera drivers were included here, now each has its own stack.

common_msgs

common_msgs contains messages that are widely used by other ROS packages. These includes messages for actions (actionlib_msgs), diagnostics (diagnostic_msgs), geometric primitives (geometry_msgs), robot navigation (nav_msgs), and common sensors (sensor_msgs), such as laser range finders, cameras, point clouds.

common_tutorials

common_tutorials

diagnostics

Packages related to gathering, viewing, and analyzing diagnostics data from robots.

diagnostics_monitors

GUI tools for diagnostics visualization.

driver_common

The driver_common stack contains classes and tools that are useful throughout the driver stacks. It currently contains:

  • dynamic_reconfigure: A dynamic reconfiguration system to allow node parameters to be changed without restarting the node.
  • driver_base: A base class for sensors to provide a consistent state machine (retries, error handling, etc.) and interface.
  • timestamp_tools: Classes to help timestamp hardware events.

graph_mapping

graph_mapping

image_common

Common code for working with images in ROS.

image_pipeline

image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.

image_transport_plugins

A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data. For example, for viewing a stream of images off-robot, a video codec will give much lower bandwidth and latency. For low frame rate tranport of high-definition images, you might prefer sending them as JPEG or PNG-compressed form.

imu_drivers

A stack for any drivers relating to Inertial Measurement Units (IMU).

joystick_drivers

This stack contains a ROS node to interface with joysticks, and drivers for joysticks that are not well supported by a common Linux distribution.

joystick_drivers_tutorials

This stack contains the turtle_teleop package, which contains tutorials for the joystick_drivers stack.

laser_drivers

This stack contains drivers for laser rangefinders, including Hokuyo SCIP 2.0-compliant and SICK models.

laser_pipeline

Libraries from processing laser data, including converting laser data into 3D representations.

linux_networking

Tools to work with linux networking.

perception_pcl_addons

The perception_pcl_addons stack contains additions to the Point Cloud Library (PCL) such as visualization tools, tutorials and example code, and demos.

physics_ode

Open Dynamics Physics Engines for Simulation and Planning (Collision Detection).

point_cloud_perception

The point_cloud_perception stack contains algorithms and tools that deal with 3D point cloud data from a variety of different sensing devices.

prosilica_driver

This stack contains the ROS driver and SDK for AVT/Prosilica cameras.

robot_calibration

Provides tools estimating robot kinematics and sensor locations. Also provides helper libraries for capturing calibration datasets on a robot. This stack is still very unstable. Expect many API changes.

roslisp_common

Common libraries to control ROS based robots. This stack contains an implementation of actionlib (client and server) in Common Lisp, a transformation library and an implementation of tf in Common Lisp.

simulator_gazebo

Wrappers, tools and additional API's for using ROS with the Gazebo simulator.

simulator_stage

This is now an empty stack that forwards dependencies to the 'stage' stack. This will be removed in ROS Fuerte Turtle. 2D simulation using the Stage multi-robot simulator. This stack is now deprecated and will be removed in Fuerte Turtle. Please use the 'stage' stack instead.

slam_gmapping

slam_gmapping contains the gmapping package, which provides SLAM capabilities. GMapping is a Creative-Commons-licensed open source package provided by OpenSlam.

slam_karto

SLAM using KARTO from SRI International

sound_drivers

This stack is deprecated. See the audio_common stack for audio related packages.

stage

2D simulation using the Stage multi-robot simulator.

vision_opencv

Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.

visualization

Visualization tools for robots. Currently just rviz, a 3d visualization environment for robots using ROS, as well as rxbag_plugins, which extend the visualization capabilities of rxbag.

visualization_common

Provides a low-level shared stack for sharing code between various higher level visualization tools.

visualization_tutorials

Tutorials related to the visualization stack such as Marker tutorials

vslam

Visual SLAM with sparse bundle adjustment

wge100_driver

This stack contains the ROS driver and firmware for the WGE100 camera used on the PR2 robot.

Wiki: ros-pkg (last edited 2010-10-13 18:06:21 by KenConley)

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