ROS2

Documentations

ROS2

• ROS2 common interfaces, a set of packages which contain common interface files (.msg and .srv).

ROS2 Tutorials

• The Robotics Back-End
  • The Robotics Back-End Youtube Channel, Learn Raspberry Pi, Arduino, ROS
• rclcpp examples

ROS Stuff

• ROS Discourse
• ROS to ROS2 Porting Guide
• ROS Web Tools
  • rosbridge
  • rclnodejs
  • roslibjs
• The Robotics Back-End (ROS2 Tutorials) * ROS2 YAML For Parameters
  • In this tutorial you will see how to use YAML to handle your ROS2 parameters.
• RobotStack, a bundling of the ROS for Linux, Mac and Windows using the Conda package manager.
• ROS2机器人知识分享社区
• transformations
  • transforms3d
  • transforms3d migration guide
  • Recommend scipy.spatial.transform.Rotation
• ROS for Medical Robotics | ROS for Medical Robotics Research
  • SlicerROS2 Plugin
• ROS Industrial

ROS2_Control

• ros2_control documentation, a framework for (real-time) control of robots using ROS2
• The Construct ROS2 Control Framework Online Course
  • ROS1 ros_control Tutorial
  • Hardware interface API
• Ros Team Workspace (RosTeamWS), a framework for boosting collaboration in teams when developing software for robots using ROS
• Tutorials
  • Designing a ROS2 Robot

MoveIt 2

• PickNik Robotics Youtube Channel
• MoveIt 2 Documentation
• MoveIt 2 Tutorials Source Code
• Hybrid Planning
  • Hybrid Planning | MoveIt2
  • Hybrid Planning - UR10e
  • Compliant Control and Application - UR

Hardware

• micro-ROS

Bridge

MQTT

• mqtt_client, ROS C++ Nodelet for bi-directionally bridging messages between ROS and MQTT
• mqtt_bridge
• ros2_mqtt
• Combining ROS2 and MQTT on ESP32 to send Twist messages

Other Packages

• YASMIN, Yet Another State MachINe, a project focused on implementing robot behaviors using Finite State Machines (FSM) on ROS2 (C++ & Python)
• SMACH, a powerful and scalable Python-based library for hierarchical state machines.
• rqt_robot_dashboard, Framework for creating ROS dashboards in RQT
• ROS Dashboard, Web-based dashboard for visualizing ROS data
• ros2_numpy, Tools for converting ROS messages to and from numpy arrays
• ros2_modbus, a ROS2 package for Modbus with TCP
• SolidWorks to URDF Exporter
• ros_docker, Docker images for ROS master, bridge and nodes
• roslaunch_to_dot, Convert a roslaunch XML file into a dot file containing a graph of the launch tree

ROS Note

rosdep

Resolving workspace package dependencies

Go to the top directory of your colcon/catkin workspace where the source code of the ROS packages you’d like to use are. Then run:

rosdep install --from-paths src --ignore-src -r -y --rosdistro humble

This command magically installs all the packages that the packages in your catkin workspace depend upon but are missing on your computer. You can also --skip-keys “pkg_name”

Pure Python Packages

In the package.xml add:

<exec_depend>python3-package_name-pip</exec_depend>

ros2 service/param

To see the types of all the active services:

ros2 service list -t

Load parameter file on node startup:

ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

Other Tools

PlotJuggler

image_tools

To stream camera view, use:

ros2 run image_tools showimage image:=/camera/color/image_raw

GUI

• Bootstrap 4 + ROS : creating a web UI for your robot
• Robot Web GUI Guide
• Angular9 + Bootstrap4 + ROS: Creating A User Interface for Robots
• capra_web_ui, Web UI for ROS robots
• Web-based application - Tasho-GUI, optimization-based motion planning for their robotic application.