Robotics Edge Platform ROS2 Packages

ROS2 Core

Runtime, build system, middleware, CLI/launch, core interfaces

• Client/Runtime & Middleware: rcl, rclcpp, rclpy, rcl_action, rclcpp_action, rclcpp_components, rcl_lifecycle, rclcpp_lifecycle, rcutils, rcpputils, rmw, rmw_cyclonedds_cpp, rmw_fastrtps_cpp, rmw_fastrtps_shared_cpp, rmw_dds_common, rmw_implementation, rmw_implementation_cmake

• ROSIDL (interfaces & typesupport): rosidl_adapter, rosidl_cmake, rosidl_core_runtime, rosidl_default_generators, rosidl_default_runtime, rosidl_generator_c, rosidl_generator_cpp, rosidl_generator_py, rosidl_generator_dds_idl, rosidl_runtime_c, rosidl_runtime_cpp, rosidl_runtime_py, rosidl_typesupport_c, rosidl_typesupport_cpp, rosidl_typesupport_fastrtps_c, rosidl_typesupport_fastrtps_cpp, rosidl_typesupport_interface, rosidl_typesupport_introspection_c, rosidl_typesupport_introspection_cpp, rosidl_dynamic_typesupport, rosidl_dynamic_typesupport_fastrtps, rosidl_generator_type_description, type_description_interfaces, rosidl_parser, rosidl_pycommon

• Build/Dev tooling: ament_package, ament_index_cpp, ament_index_python, ament_lint, ament_lint_auto, ament_lint_common, ament_copyright, class_loader, pluginlib, libstatistics_collector, tracetools, ament_cmake, ament_cmake_* (all), python_cmake_module, eigen3_cmake_module, eigen_stl_containers, py_binding_tools

• CLI & Launch: ros2cli, ros2action, ros2bag, ros2component, ros2doctor, ros2interface, ros2launch, ros2lifecycle, ros2multicast, ros2node, ros2param, ros2pkg, ros2run, ros2service, ros2topic, launch, launch_ros, launch_xml, launch_yaml, launch_param_builder, launch_testing, launch_testing_ros, launch_testing_ament_cmake

• Core interfaces/messages: builtin_interfaces, std_msgs, std_srvs, sensor_msgs, geometry_msgs, diagnostic_msgs, unique_identifier_msgs, service_msgs, message_filters

• Environment/workspace: ros_core, ros_base, ros_environment, ros_workspace

Robot Perception & Algorithms

Unified perception/SLAM/navigation layer: TF, robot model, algorithms, and data handling

• TF stack tf2, tf2_ros, tf2_tools, tf2_msgs, tf2_geometry_msgs, tf2_sensor_msgs, tf2_py, tf2_eigen, tf2_eigen_kdl, tf2_kdl

• Robot model urdf, urdf_parser_plugin, urdfdom_py, xacro, kdl_parser, python_orocos_kdl_vendor, orocos_kdl_vendor, robot_state_publisher, joint_state_publisher, joint_state_broadcaster

• SLAM algorithms imx_vslam_ros2_demo, orb_slam3_ros2

• Perception algorithms moveit_ros_perception, moveit_ros_occupancy_map_monitor, geometric_shapes

• Sensor data processing image_transport, cv_bridge, stereo_msgs, filters, pcl_ros, pcl_conversions, pcl_msgs, octomap_msgs

• Visual/Depth drivers & demos realsense2_camera, realsense2_camera_msgs, imx_vslam_ros2_demo

Audio and Vision

Audio messages, image/video bridges, visualization helpers

• Audio: audio_msgs

• Vision / Video I/O: gst_bridge, gst_msgs, image_transport, cv_bridge

• Visualization & sensors: visualization_msgs, sensor_msgs, stereo_msgs

• Gazebo vendors / SDL: gz_cmake_vendor, gz_math_vendor, gz_utils_vendor, gz_tools_vendor, sdl2_vendor