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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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