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ROS contains many open source implementations of common robotics functionality and algorithms. These open source implementations are organized into "packages". Many packages are included as part of ROS distributions, while others may be developed by individuals and distributed through code sharing sites such as github. Some packages of note include:
* ''actionlib''<ref>{{Cite web|url=http://wiki.ros.org/actionlib|title=actionlib - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides a standardized interface for interfacing with preemtable tasks.
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* ''rosbridge''<ref>{{Cite web|url=http://wiki.ros.org/rosbridge_suite|title=rosbridge_suite - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides a JSON API to ROS functionalities for non-ROS programs.
* ''gmapping''<ref>{{Cite web|url=http://wiki.ros.org/gmapping|title=gmapping - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides a wrapper for [[OpenSlam|OpenSlam's]] [[Gmapping]] algorithm for [[Simultaneous localization and mapping|simultaneous localization and mapping.]]
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* ''amcl''<ref>{{Cite web|url=http://wiki.ros.org/amcl|title=amcl - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides an implementation of [[Monte Carlo localization|adaptive Monte-Carlo localization.]]
* ''nav2d''<ref>{{Cite web|url=http://wiki.ros.org/nav2d|title=nav2d - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides the capability of navigating a mobile robot in a planar environment.
* ''vision_opencv''<ref>{{Cite web|url=http://wiki.ros.org/vision_opencv?distro=melodic|title=vision_opencv - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> is a meta-package which provides packages for integrating ROS with [[OpenCV]].
* ''tf''<ref>{{Cite web|url=http://wiki.ros.org/tf|title=tf - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provided a system for representing, tracking and transforming coordinate frames until ROS Hydro, when it was deprecated in favor of tf2.
* ''tf2''<ref>{{Cite web|url=http://wiki.ros.org/tf2|title=tf2 - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> is the second generation of the tf library, and provides the same capabilities for ROS versions after Hydro.
* ''gazeo_ros_pkgs''<ref>{{Cite web|url=http://wiki.ros.org/gazebo_ros_pkgs|title=gazebo_ros_pkgs - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> is a meta-package which provides packages for integrating ROS with the [[Gazebo simulator|Gazebo]] simulator.
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