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          API per functionality

          For a list of common ROS repositories, see the ROS GitHub Organizations.

          ROS supports several Client Libraries, though the main supported libraries are C++ roscpp and rospy. There are also numerous ROS stacks and packages that provide higher-level functionality. Support for higher-level functionality in various languages is summarized below.

          APIs

          • ROS: functionality available via ROS topics and services

          • C++: functionality available in C++ libraries

          • Python: functionality available in Python modules/packages

          API

          ROS

          C++

          Python

          ROS

          ROS

          roscpp

          rospy

          Basic Datatypes

          common_msgs

          common_msgs

          common_msgs

          Manipulating message streams

          topic_tools

          message_filters

          message_filters

          Drivers

          joystick_drivers, camera_drivers, laser_drivers, audio_common (aka sound_drivers), imu_drivers

          joystick_drivers, camera_drivers, laser_drivers, audio_common, imu_drivers

          Driver Implementation

          driver_common

          driver_common

          Filtering data

          filters

          3D processing

          laser_pipeline, perception_pcl

          laser_pipeline, perception_pcl

          Image processing

          image_common, image_pipeline, vision_opencv

          vision_opencv

          Transforms/Coordinates

          tf, tf_conversions, robot_state_publisher

          tf, tf_conversions

          Actions

          actionlib

          actionlib

          actionlib

          Executive/Task Manager

          executive_smach

          executive_smach

          Navigation

          navigation

          via actionlib

          via actionlib

          Simulation (2D)

          simulator_stage

          simulator_stage

          Simulation (3D)

          simulator_gazebo

          simulator_gazebo

          Robot Model

          robot_model

          Realtime Controllers

          pr2_controller_manager

          pr2_controller_interface, realtime_tools

          Motion planning (arms)

          ompl, chomp_motion_planner, sbpl

          actionlib through move_arm

          actionlib through move_arm

          Humanoid walk

          walk_msgs

          walk_interfaces

          Packages in Layered Layout

          More slide-friendly layout of ROS packages in a layered manner.

          https://docs.google.com/drawings/d/1N3skvSyzZj_dWzCqwEfsNd3gtwTNGFDwpm_TM__Vk2s/edit

          Note:

          • Packages are subjectively chosen from "Browsing packages for indigo" page. Original author has no intention to omit any packages due to his personal reason.

          • You can zoom this diagram, or edit on Google Drive.

          Improvements/corrections for the package grouping diagram

          Particularly following may require improvements/corrections (please remove the lines when addressed):

          • There should be so many more notable packages in the application layer.
          • Maybe too much focus put on navigation and MoveIt!?

          • Some pkgs in "Comm layer" are not really communication purpose.
          • RViz and rqt may better be drawn larger considering how well they are used?
          • Cosmetics (coloring?)

          Wiki: APIs (2016-03-22 18:09:26由IsaacSaito編輯)

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