C++ ros2

Open-source C++ projects categorized as ros2 | Edit details

Top 9 C++ ros2 Projects

  • GitHub repo iceoryx

    Eclipse iceoryx™ - true zero-copy inter-process-communication

    Project mention: Announcing Eclipse iceoryx 1.0.0 | reddit.com/r/cpp | 2021-04-16

    This is the tracking issue for Windows support https://github.com/eclipse-iceoryx/iceoryx/issues/33

  • Nanos

    Run Linux Software Faster and Safer than Linux with Unikernels.

  • GitHub repo zed-ros2-wrapper

    ROS 2 wrapper beta for the ZED SDK

    Project mention: How to build ZED 2i Camera x ROS2 Foxy x Nvidia Jetson x Ubuntu 18.04 via Docker | dev.to | 2021-09-15

    # Based on https://gitlab.com/nvidia/container-images/l4t-base/-/blob/master/Dockerfile.l4t # https://github.com/dusty-nv/jetson-containers/blob/master/Dockerfile.ros.foxy # https://github.com/codustry/jetson-containers/blob/master/Dockerfile.ros.foxy ARG L4T_MINOR_VERSION=5.0 FROM codustry/ros:foxy-ros-base-l4t-r32.${L4T_MINOR_VERSION} # # ZED Jetson # https://github.com/stereolabs/zed-docker/blob/master/3.X/jetpack_4.X/devel/Dockerfile # ARG ZED_SDK_MAJOR=3 ARG ZED_SDK_MINOR=5 ARG JETPACK_MAJOR=4 ARG JETPACK_MINOR=5 #This environment variable is needed to use the streaming features on Jetson inside a container ENV LOGNAME root ENV DEBIAN_FRONTEND noninteractive RUN apt-get update -y && apt-get install --no-install-recommends lsb-release wget less udev sudo apt-transport-https build-essential cmake openssh-server libv4l-0 libv4l-dev v4l-utils binutils xz-utils bzip2 lbzip2 curl ca-certificates libegl1 python3 -y && \ echo "# R32 (release), REVISION: 5.0" > /etc/nv_tegra_release ; \ wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/jp${JETPACK_MAJOR}${JETPACK_MINOR}/jetsons && \ chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && \ rm -rf /usr/local/zed/resources/* \ rm -rf ZED_SDK_Linux_JP.run && \ rm -rf /var/lib/apt/lists/* #This symbolic link is needed to use the streaming features on Jetson inside a container RUN ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so # # Configure Enviroment for ROS RUN echo 'source /opt/ros/foxy/install/setup.bash' >> ~/.bashrc # RUN echo "source /opt/ros/eloquent/setup.bash" >> ~/.bashrc RUN echo 'source /usr/share/colcon_cd/function/colcon_cd.sh' >> ~/.bashrc # RUN echo "export _colcon_cd_root=~/ros2_install" >> ~/.bashrc # echo $LD_LIBRARY_PATH RUN echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda-10.2/targets/aarch64-linux/lib/stubs:/opt/ros/foxy/install/lib' >> ~/.bashrc WORKDIR /root/Downloads RUN wget https://developer.nvidia.com/embedded/L4T/r32_Release_v5.0/T186/Tegra186_Linux_R32.5.0_aarch64.tbz2 RUN tar xf Tegra186_Linux_R32.5.0_aarch64.tbz2 RUN cd Linux_for_Tegra && \ sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \ sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \ sed -i 's/LC_ALL=C chroot . mount -t proc none \/proc/ /g' nv_tegra/nv-apply-debs.sh && \ sed -i 's/umount ${L4T_ROOTFS_DIR}\/proc/ /g' nv_tegra/nv-apply-debs.sh && \ sed -i 's/chroot . \// /g' nv_tegra/nv-apply-debs.sh && \ ./apply_binaries.sh -r / --target-overlay RUN rm -rf Tegra210_Linux_R32.4.4_aarch64.tbz2 && \ rm -rf Linux_for_Tegra && \ echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig WORKDIR /usr/local/zed ENV CUDA_HOME=/usr/local/cuda WORKDIR /root/ros2_ws/src/ RUN source /opt/ros/foxy/install/setup.bash && cd ../ && colcon build --symlink-install RUN git clone https://github.com/stereolabs/zed-ros2-wrapper.git RUN git clone https://github.com/ros/diagnostics.git && cd diagnostics && git checkout foxy WORKDIR /root/ros2_ws RUN source /opt/ros/foxy/install/setup.bash && source $(pwd)/install/local_setup.bash && rosdep update && \ rosdep install --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} -y && \ colcon build --symlink-install --cmake-args " -DCMAKE_BUILD_TYPE=Release" " -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs" " -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64/stubs" " -DCMAKE_CXX_FLAGS='-Wl,--allow-shlib-undefined'" && \ echo source $(pwd)/install/local_setup.bash >> ~/.bashrc && \ source ~/.bashrc

  • GitHub repo ros_ign

    Integration between ROS (1 and 2) and Ignition simulation

    Project mention: Ignition Gazebo Edifice Released! Tons of New Features. | reddit.com/r/robotics | 2021-04-01

    ROS integration : Edifice can be used with ROS Noetic and ROS Foxy, and it will be the official Ignition version for the upcoming ROS Galactic.

  • GitHub repo Vortex-AUV

    Vortex AUV software. Purpose built for competing in AUV/ROV competitions.

    Project mention: Open-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners | reddit.com/r/rust | 2021-02-08

    u/Khay_ That would be awesome, you are very much welcome to contribute :) I have a lot of thoughts and ideas for the project, but haven't mapped it out yet. What if I tried to set up a backlog for the project as chronological steps and some overall goals, and you can have a look? I have done something similar in the past, but only for an autonomous underwater vehicle written in C++ and Python using ROS (have a look here), and learned a lot from that. I would like to create something similar, but I know a lot of things that can improve from the past architecture.

  • GitHub repo epuck_ros2

    ROS2 node for the e-puck robot and its simulation model

    Project mention: Should I use ROS 2? | reddit.com/r/ROS | 2021-04-13

    You can compile ROS 2 for arm32 easily: https://github.com/cyberbotics/epuck_ros2/tree/master/installation/cross_compile

  • GitHub repo rmw_ecal

    ROS2 middleware based on eCAL

    Project mention: eCAL 5.9.0 released | reddit.com/r/cpp | 2021-08-10

    This release is now finally supported by our ROS2 middleware layer rmw_ecal(https://github.com/continental/rmw_ecal)

  • Scout APM

    Scout APM: A developer's best friend. Try free for 14-days. Scout APM uses tracing logic that ties bottlenecks to source code so you know the exact line of code causing performance issues and can get back to building a great product faster.

  • GitHub repo tello-ros2

    ROS2 node for DJI Tello and Visual SLAM for mapping of indoor environments.

    Project mention: Tello ROS2 driver (w/ drone control, video, imu, battery, etc) | reddit.com/r/TelloDrones | 2021-05-19
  • GitHub repo Flow

    Flow is a software framework focused on ease of use while maximizing performance in closed closed loop systems (e.g. robots). Flow is built on top of C++ 20 coroutines and utilizes modern C++ techniques. (by ManuelMeraz)

    Project mention: Processing variadic template values into an std::array | reddit.com/r/cpp_questions | 2021-03-17

    You'd want to use recursive templates to iterate over the types and use type wrapper class. I already have a `for_each` for this. Take a look at `for_each` in this page: https://github.com/ManuelMeraz/flow/blob/master/include/flow/detail/metaprogramming.hpp

NOTE: The open source projects on this list are ordered by number of github stars. The number of mentions indicates repo mentiontions in the last 12 Months or since we started tracking (Dec 2020). The latest post mention was on 2021-09-15.

Index

What are some of the best open-source ros2 projects in C++? This list will help you:

Project Stars
1 navigation2 701
2 iceoryx 530
3 zed-ros2-wrapper 40
4 ros_ign 36
5 Vortex-AUV 31
6 epuck_ros2 25
7 rmw_ecal 25
8 tello-ros2 8
9 Flow 5
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