ROS 2 Documentation: Humble Logotipo
  • Instalación
    • Ubuntu (Debian)
    • Ubuntu (binarios)
    • RHEL (RPM)
    • Alternativas
      • Ubuntu (fuentes)
      • Ubuntu (binarios)
      • Windows (fuentes)
      • RHEL (fuentes)
      • RHEL (binarios)
      • macOS (fuentes)
      • Fedora (fuentes)
      • Últimos desarrollos (fuentes)
    • Mantener los fuentes obtenidos
    • Pruebas con archivos binarios pre-relase
    • implementaciones de DDS
      • Complementos de seguridad de Connext
      • RTI Connex DDS
      • Eclipse Cyclone DDS
      • GurumNetworks GurumDDS
      • eProsima Fast DDS
  • Distributions
    • Humble Hawksbill (humble)
      • Humble Hawksbill changelog
    • Foxy Fitzroy (foxy)
    • Rolling Ridley (rolling)
    • Development Distribution
      • ROS 2 Iron Irwini (codename “iron”; May, 2023)
    • End-of-Life Distributions
      • Galactic Geochelone (galactic)
        • Galactic Geochelone changelog
      • Eloquent Elusor (eloquent)
      • Dashing Diademata (dashing)
      • Crystal Clemmys (crystal)
      • Bouncy Bolson (bouncy)
      • Ardent Apalone (ardent)
      • Beta 3 (r2b3)
      • Beta 2 (r2b2)
      • Beta 1 (Asphalt)
      • Alphas
    • Development process for a release
  • Tutorials
    • Beginner: CLI tools
      • Configuring environment
      • Using turtlesim and rqt
      • Understanding nodes
      • Understanding topics
      • Understanding services
      • Understanding parameters
      • Understanding actions
      • Using rqt_console to view logs
      • Launching nodes
      • Recording and playing back data
    • Beginner: Client libraries
      • Using colcon to build packages
      • Creating a workspace
      • Creating a package
      • Writing a simple publisher and subscriber (C++)
      • Writing a simple publisher and subscriber (Python)
      • Writing a simple service and client (C++)
      • Writing a simple service and client (Python)
      • Creating custom msg and srv files
      • Implementing custom interfaces
      • Using parameters in a class (C++)
      • Using parameters in a class (Python)
      • Using ros2doctor to identify issues
      • Creating and using plugins (C++)
    • Intermediate
      • Managing Dependencies with rosdep
      • Creating an action
      • Writing an action server and client (C++)
      • Writing an action server and client (Python)
      • Composing multiple nodes in a single process
      • Monitoring for parameter changes (C++)
      • Launch
        • Creating a launch file
        • Integrating launch files into ROS 2 packages
        • Using substitutions
        • Using event handlers
        • Managing large projects
      • tf2
        • Introducing tf2
        • Writing a static broadcaster (Python)
        • Writing a static broadcaster (C++)
        • Writing a broadcaster (Python)
        • Writing a broadcaster (C++)
        • Writing a listener (Python)
        • Writing a listener (C++)
        • Adding a frame (Python)
        • Adding a frame (C++)
        • Using time (Python)
        • Using time (C++)
        • Traveling in time (Python)
        • Traveling in time (C++)
        • Debugging
        • Quaternion fundamentals
        • Using stamped datatypes with tf2_ros::MessageFilter
      • Testing
        • Running Tests in ROS 2 from the Command Line
        • Writing Basic Tests with Python
      • URDF
        • Building a visual robot model from scratch
        • Building a movable robot model
        • Adding physical and collision properties
        • Using Xacro to clean up your code
        • Using URDF with robot_state_publisher
    • Advanced
      • Enabling topic statistics (C++)
      • Using Fast DDS Discovery Server as discovery protocol [community-contributed]
      • Implementing a custom memory allocator
      • Unlocking the potential of Fast DDS middleware [community-contributed]
      • Recording a bag from a node (C++)
      • Recording a bag from a node (Python)
      • Simulation
        • Setting up a robot simulation (Webots)
        • Setting up a robot simulation (Gazebo)
      • Security
        • Setting up security
        • Understanding the security keystore
        • Ensuring security across machines
        • Examining network traffic
        • Setting access controls
    • Demos
      • Using quality-of-service settings for lossy networks
      • Managing nodes with managed lifecycles
      • Setting up efficient intra-process communication
      • Recording and playing back data with rosbag using the ROS 1 bridge
      • Understanding real-time programming
      • Experimenting with a dummy robot
      • Logging
      • Creating a content filtering subscription
    • Miscellaneous
      • Deploying on IBM Cloud Kubernetes [community-contributed]
      • Using Eclipse Oxygen with rviz2 [community-contributed]
      • Building a real-time Linux kernel [community-contributed]
      • Building a package with Eclipse 2021-06
  • How-to Guides
    • Installation troubleshooting
    • Developing a ROS 2 package
    • ament_cmake user documentation
    • ament_cmake_python user documentation
    • Migrating launch files from ROS 1 to ROS 2
    • Using Python, XML, and YAML for ROS 2 Launch Files
    • Using ROS 2 launch to launch composable nodes
    • Migrating YAML parameter files from ROS 1 to ROS 2
    • Passing ROS arguments to nodes via the command-line
    • Synchronous vs. asynchronous service clients
    • DDS tuning information
    • rosbag2: Overriding QoS Policies
    • Working with multiple ROS 2 middleware implementations
    • Cross-compilation
    • Releasing a Package
      • First Time Release
      • Subsequent Releases
      • Release Team / Repository
      • Release Track
    • Using Python Packages with ROS 2
    • Porting RQt plugins to Windows
    • Running ROS 2 nodes in Docker [community-contributed]
    • Visualizing ROS 2 data with Foxglove Studio
    • ROS 2 Package Maintainer Guide
    • Building a custom Debian package
    • Building ROS 2 with tracing instrumentation
    • Topics vs Services vs Actions
    • Using variants
    • Using the ros2 param command-line tool
    • Using ros1_bridge with upstream ROS on Ubuntu 22.04
    • Disabling Zero Copy Loaned Messages
    • ROS 2 on Raspberry Pi
    • Using Callback Groups
    • Building RQt from source
      • Building RQt from source on macOS
      • Building RQt from source on Windows 10
  • Concepts
    • The ROS_DOMAIN_ID
    • About different ROS 2 DDS/RTPS vendors
    • About logging and logger configuration
    • About Quality of Service settings
    • About ROS 2 client libraries
    • About ROS 2 interfaces
    • About parameters in ROS 2
    • Executors
    • About topic statistics
    • Introspection with command line tools
    • Overview and usage of RQt
    • About Composition
    • On the mixing of ament and catkin (catment)
    • About Cross-compilation
    • About ROS 2 Security
    • About tf2
    • About the build system
    • About internal ROS 2 interfaces
    • About ROS 2 middleware implementations
    • About ROS 2 client libraries
  • Contact
  • The ROS 2 Project
    • Contributing
      • ROS 2 developer guide
      • Code style and language versions
      • Quality guide: ensuring code quality
      • Migration guide from ROS 1
        • Python migration guide from ROS 1
      • ROS Build Farms
      • Windows Tips and Tricks
      • Contributing to ROS 2 Documentation
    • Features Status
    • Feature Ideas
    • Roadmap
    • ROSCon Talks
    • Project Governance
      • ROS 2 Technical Steering Committee Charter
      • ROS 2 TSC applicant intake process
      • How to Start a Community Working Group
    • Marketing
  • Related Projects
    • Intel ROS 2 Projects
    • NVIDIA ROS 2 Projects
  • Glossary
  • Citations
ROS 2 Documentation: Humble
  • Related Projects
  • Editar en GitHub

Related Projects

Gazebo

Gazebo (gazebosim.org) and its predecessor Gazebo Classic are the first open source choice for 3D physics simulation of ROS-based robots.

Large Community Projects

Large community projects involve multiple developers from all over the globe and are typically backed by a dedicated working group (cf. Project Governance).

  • ros2_control (control.ros.org): Flexible framework for real-time control of robots implemented with ROS 2.

  • Navigation2 (navigation.ros.org): Comprehensive and flexible navigation stack for mobile robots using ROS 2.

  • MoveIt (moveit.ros.org): A rich platform for building manipulation applications featuring advanced kinematics, motion planning, control, collision checking, and much more.

  • micro-ROS (micro.ros.org): A platform for putting ROS 2 onto microcontrollers, starting at less than 100 kB of RAM.

Further Community Projects

The global ROS community develops and maintains hundreds of further packages on top of the core ROS 2 stack. Some of them come with their own websites for documentation. Your best entry point to discover these works is the ROS Index (index.ros.org).

Hint for developers: If you maintain a README.md file in the root of your package folder (which is not necessarily the root of your repository), this file is rendered into the overview page of your package at index.ros.org. The file may be used for documenting your package and supersedes the package documentation pages in the ROS Wiki from ROS 1. See the fmi_adapter package as an example.

Company-driven Projects

  • Intel ROS 2 Projects
  • NVIDIA ROS 2 Projects
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