RPIのROS開発環境
2018年12月14日 - 未分類
ROSを調べてみました。
ROSは、ロボット制御に使われるミドルウェアで、P2P通信を実現するフレームワークです。Linuxで動作しますが、MacOSX(Mojave)では動作しません。
Raspberry Piでは動作します。ここの記事の通りにやればインストールできます。
Raspberry Pi 3 にROS kinetic をインストールしてみました。
結構、時間がかかります。こちらをインストールすると、以下に書く、apt-getではインストールできなくなりますので、注意が必要です。Rasbianでは、いろいろ問題がありそうで、チュートリアルがうまくできませんでした。結論から言うと、Raspberry PiにUbuntu 16.0.4をインストールしてROS を入れるのがいいのでしょう。
以下は、試してみた履歴です。
Rasbian Strechのレポジットリからインストールできます。こちらのほうが簡単です。
$ sudo apt-get install ros-desktop-full
$ sudo apt-get install ros-desktop-python-dev
インストールされるrosのバージョンは、ros kineticになります。
うまくできない場合には、
$ sudo aptitude install ros-desktop-python-dev
のように、aptをaptitudeに変えてみます。解決策が提示されますので、Yとしましょう。
rosserialを使えば、ArduinoやESP32とRaspberry PiとをROSで通信できます。ROSは、現在、ROS2.0が開発されているところですが、MacOSX(Mojave)には対応できていないようです。もちろん、 Raspberry Piにも対応していません。
Gazeboもある
$sudo apt-get install gazebo7
rvizも入っていました。
ODEのインストール
$ sudo apt-get install python-pyode
tensolflowのインストール
$ pip install tensorflow kerasのインストール $ pip install keras これで、Raspberry Piの上で、ロボット開発環境がそろいました。
ROSのチュートリアルをやってみたいと思います。
$ catkin_make
CMake Error at /usr/share/catkin/cmake/catkinConfig.cmake:82 (find_package):
Could not find a package configuration file provided by “gazebo_ros” with
any of the following names:
gazebo_rosConfig.cmake
gazebo_ros-config.cmake
エラーがでますね。gazebo_rosConfig.cmakeとかは、どこにあるのだろう？
rosdepで、必要なものを自動でインストールするはずですが、どうもデポジットリーが変みたい。
Unavailable Dependencies
Compilation of collada_urdf will fail per this issue.
You can provide a compatible version of Assimp (Open Asset Import Library) to fix this link error:
mkdir -p ~/ros_catkin_ws/external_src cd ~/ros_catkin_ws/external_src wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip unzip assimp-3.1.1_no_test_models.zip cd assimp-3.1.1 cmake . make sudo make install
Note: If you have problems, you can skip collada_urdf using the following generator:
$ rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --exclude collada_parser collada_urdf --tar > kinetic-desktop-wet.rosinstall $ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
$ rosdep update $ catkin_make install
これで、必要なものを自動でインストールはできるようになりました。でも、catkin_makeでエラーが出るし、いろいろ問題が多いので、中断。
Raspberry PiにROSがインストールされているイメージがあったので、これを入れることにしました。
2018-12-08-ubiquity-xenial-lxde-raspberry-pi.img
と最新のようです。こちらで試してみたいと思います。
MacでSDに書き込む
$ sudo dd bs=1m if=2018-12-08-ubiquity-xenial-lxde-raspberry-pi.img of=/dev/rdisk2 conv=sync
WiFiアクセスポイントとして起動するみたいです。 Ubuntu 16.04.だそです。
Getting Started
NOTE: When the Raspberry Pi boots for the first time, it resizes the file system to fill the SD card, this can make the first boot take some time.
On a Pi3, our image comes up as a Wifi access point. The SSID is ubiquityrobotXXXX where XXXX is part of the MAC address. The wifi password is robotseverywhere.
Once connected, it is possible to log into the Pi with ssh ubuntu@10.42.0.1 with a password of ubuntu. If you connect up a keyboard and mouse enter the password ubuntu at the prompt.
If you are not running on one of our robots run sudo systemctl disable magni-base to ensure that our startup scripts get disabled.
先ずは、ubiquityrobotXXXX に接続して、ssh ubuntu@10.42.0.1 でログインする。
次に、
/etc/wpa_supplicant/wpa_supplicant.conf
にネットワークを設定する。
/etc/network/interfaces に
auto wlan0
iface wlan0 inet dhcp
wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf
を追加して、リブートする。
設定したSSIDに接続して、
$ ssh ubuntu@ubiquityrobot,local
あとは、
$ sudo apt update
とかする。
ここを参考に、VNCサーバを入れる。RasbianのようなrealVNC serverはないのかな。デスクトップ環境もないので、インストールする。
$ apt-get install vnc4server$ apt-get install gnome2018-12-08-ubiquity-xenial-lxde-raspberry-pi.imgは、GUI系が入っていないのだろうか。VNC接続でgazeboやrvizが動かない。
ようやく慣れた RasbianからUbunto への移行は、ちょっとした違いで時間がかかる。
ほとんどのROSのパッケージが入っているみたい。
ii python-rosdep 0.13.0-1 all rosdep package manager abstraction tool for ROS
ii python-rosdistro 0.7.0-100 all A tool to work with rosdistro files
ii python-rosdistro-modules 0.7.0-1 all A tool to work with rosdistro files
ii python-rosinstall 0.7.8-1 all The installer for ROS
ii python-rospkg 1.1.7-100 all ROS package library
ii python-rospkg-modules 1.1.7-1 all ROS package library
ii python-wxgtk3.0 3.0.2.0+dfsg-1build1 armhf Python interface to the wxWidgets Cross-platform C++ GUI toolkit
ii python3-gi 3.20.0-0ubuntu1 armhf Python 3 bindings for gobject-introspection libraries
ii ros-kinetic-actionlib 1.11.13-0xenial-20181107-143808-0800 armhf The actionlib stack provides a standardized interface for interfacing with preemptable tasks.
ii ros-kinetic-actionlib-msgs 1.12.7-0xenial-20181107-005003-0800 armhf actionlib_msgs defines the common messages to interact with an action server and an action client.
ii ros-kinetic-actionlib-tutorials 0.1.10-0xenial-20181107-150257-0800 armhf The actionlib_tutorials package
ii ros-kinetic-angles 1.9.11-0xenial-20180825-095749-0800 armhf This package provides a set of simple math utilities to work with angles.
ii ros-kinetic-aruco-detect 0.10.0-0xenial-20181118-142150-0800 armhf Fiducial detection based on the aruco library
ii ros-kinetic-base-local-planner 1.14.4-0xenial-20181118-152847-0800 armhf This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane.
ii ros-kinetic-bond 1.8.3-0xenial-20181006-210515-0800 armhf A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing.
ii ros-kinetic-bond-core 1.8.3-0xenial-20181007-032324-0800 armhf A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing.
ii ros-kinetic-bondcpp 1.8.3-0xenial-20181007-030253-0800 armhf C++ implementation of bond, a mechanism for checking when another process has terminated.
ii ros-kinetic-bondpy 1.8.3-0xenial-20181007-030539-0800 armhf Python implementation of bond, a mechanism for checking when another process has terminated.
ii ros-kinetic-camera-calibration 1.12.23-0xenial-20181107-202427-0800 armhf camera_calibration allows easy calibration of monocular or stereo cameras using a checkerboard calibration target.
ii ros-kinetic-camera-calibration-parsers 1.11.13-0xenial-20181107-194104-0800 armhf camera_calibration_parsers contains routines for reading and writing camera calibration parameters.
ii ros-kinetic-camera-info-manager 1.11.13-0xenial-20181107-202436-0800 armhf This package provides a C++ interface for camera calibration information.
ii ros-kinetic-catkin 0.7.14-0xenial-20180809-132403-0800 armhf Low-level build system macros and infrastructure for ROS.
ii ros-kinetic-class-loader 0.3.9-0xenial-20180810-193610-0800 armhf The class_loader package is a ROS-independent package for loading plugins during runtime and the foundation of the higher level ROS "pluginlib" library.
ii ros-kinetic-clear-costmap-recovery 1.14.4-0xenial-20181118-122946-0800 armhf This package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.
ii ros-kinetic-cmake-modules 0.4.1-0xenial-20180810-192403-0800 armhf A common repository for CMake Modules which are not distributed with CMake but are commonly used by ROS packages.
ii ros-kinetic-collada-parser 1.12.12-0xenial-20180826-085523-0800 armhf This package contains a C++ parser for the Collada robot description format.
ii ros-kinetic-collada-urdf 1.12.12-0xenial-20181108-043724-0800 armhf This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents.
ii ros-kinetic-common-msgs 1.12.7-0xenial-20181107-133653-0800 armhf common_msgs contains messages that are widely used by other ROS packages.
ii ros-kinetic-common-tutorials 0.1.10-0xenial-20181108-002401-0800 armhf Metapackage that contains common tutorials
ii ros-kinetic-compressed-image-transport 1.9.5-0xenial-20181108-035414-0800 armhf Compressed_image_transport provides a plugin to image_transport for transparently sending images encoded as JPEG or PNG.
ii ros-kinetic-control-msgs 1.4.0-0xenial-20181107-143850-0800 armhf control_msgs contains base messages and actions useful for controlling robots.
ii ros-kinetic-controller-interface 0.13.3-0xenial-20180826-091113-0800 armhf Interface base class for controllers
ii ros-kinetic-controller-manager 0.13.3-0xenial-20180826-094725-0800 armhf The controller manager.
ii ros-kinetic-controller-manager-msgs 0.13.3-0xenial-20180826-005313-0800 armhf Messages and services for the controller manager.
ii ros-kinetic-costmap-2d 1.14.4-0xenial-20181118-092913-0800 armhf This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius.
ii ros-kinetic-cpp-common 0.6.11-0xenial-20180825-092219-0800 armhf cpp_common contains C++ code for doing things that are not necessarily ROS related, but are useful for multiple packages.
ii ros-kinetic-cv-bridge 1.12.8-0xenial-20181107-194135-0800 armhf This contains CvBridge, which converts between ROS Image messages and OpenCV images.
ii ros-kinetic-desktop 1.3.2-0xenial-20181118-161144-0800 armhf A metapackage to aggregate several packages.
ii ros-kinetic-diagnostic-aggregator 1.9.3-0xenial-20181107-134046-0800 armhf diagnostic_aggregator
ii ros-kinetic-diagnostic-analysis 1.9.3-0xenial-20181107-135303-0800 armhf The diagnostic_analysis package can convert a log of diagnostics data into a series of CSV files.
ii ros-kinetic-diagnostic-common-diagnostics 1.9.3-0xenial-20181118-085137-0800 armhf diagnostic_common_diagnostics
ii ros-kinetic-diagnostic-msgs 1.12.7-0xenial-20181107-003725-0800 armhf This package holds the diagnostic messages which provide the standardized interface for the diagnostic and runtime monitoring systems in ROS.
ii ros-kinetic-diagnostic-updater 1.9.3-0xenial-20181107-134207-0800 armhf diagnostic_updater contains tools for easily updating diagnostics.
ii ros-kinetic-diagnostics 1.9.3-0xenial-20181118-140131-0800 armhf diagnostics
ii ros-kinetic-diff-drive-controller 0.13.4-0xenial-20181118-085151-0800 armhf Controller for a differential drive mobile base.
ii ros-kinetic-dnn-detect 0.0.3-0xenial-20181118-091459-0800 armhf DNN based detection
ii ros-kinetic-dynamic-reconfigure 1.5.50-0xenial-20181006-210933-0800 armhf This unary stack contains the dynamic_reconfigure package which provides a means to change node parameters at any time without having to restart the node.
ii ros-kinetic-eigen-conversions 1.11.9-0xenial-20181107-165231-0800 armhf Conversion functions between: – Eigen and KDL – Eigen and geometry_msgs.
ii ros-kinetic-eigen-stl-containers 0.1.8-0xenial-20180810-194724-0800 armhf This package provides a set of typedef’s that allow using Eigen datatypes in STL containers
ii ros-kinetic-executive-smach 2.0.1-0xenial-20181108-001824-0800 armhf This metapackage depends on the SMACH library and ROS SMACH integration packages.
ii ros-kinetic-fiducial-msgs 0.10.0-0xenial-20181118-085401-0800 armhf Package containing message definitions for fiducials
ii ros-kinetic-fiducial-slam 0.10.0-0xenial-20181118-091555-0800 armhf ROS node to build a 3D map of fiducials and estimate robot pose from fiducial transforms
ii ros-kinetic-filters 1.7.5-0xenial-20180826-044448-0800 armhf This library provides a standardized interface for processing data as a sequence of filters.
ii ros-kinetic-gencpp 0.6.0-0xenial-20180825-095053-0800 armhf C++ ROS message and service generators.
ii ros-kinetic-geneus 2.2.6-0xenial-20180825-093733-0800 armhf EusLisp ROS message and service generators.
ii ros-kinetic-genlisp 0.4.16-0xenial-20180825-093746-0800 armhf Common-Lisp ROS message and service generators.
ii ros-kinetic-genmsg 0.5.11-0xenial-20180825-091522-0800 armhf Standalone Python library for generating ROS message and service data structures for various languages.
ii ros-kinetic-gennodejs 2.0.1-0xenial-20180825-093818-0800 armhf Javascript ROS message and service generators.
ii ros-kinetic-genpy 0.6.7-0xenial-20180825-093750-0800 armhf Python ROS message and service generators.
ii ros-kinetic-geometric-shapes 0.5.4-1xenial-20181107-211128-0800 armhf This package contains generic definitions of geometric shapes and bodies.
ii ros-kinetic-geometry 1.11.9-0xenial-20181118-104850-0800 armhf A metapackage for geometry library suite.
ii ros-kinetic-geometry-msgs 1.12.7-0xenial-20181107-004947-0800 armhf geometry_msgs provides messages for common geometric primitives such as points, vectors, and poses.
ii ros-kinetic-geometry-tutorials 0.2.2-0xenial-20181118-105323-0800 armhf Metapackage of geometry tutorials ROS.
ii ros-kinetic-gl-dependency 1.1.0-0xenial-20180810-194306-0800 armhf This encapsulates the GL dependency for a specific ROS distribution and its Qt version
ii ros-kinetic-hardware-interface 0.13.3-0xenial-20180826-085338-0800 armhf Hardware Interface base class.
ii ros-kinetic-image-geometry 1.12.8-0xenial-20181107-194959-0800 armhf `image_geometry` contains C++ and Python libraries for interpreting images geometrically.
ii ros-kinetic-image-transport 1.11.13-0xenial-20181107-195120-0800 armhf image_transport should always be used to subscribe to and publish images.
ii ros-kinetic-interactive-marker-tutorials 0.10.3-0xenial-20181118-081452-0800 armhf The interactive_marker_tutorials package
ii ros-kinetic-interactive-markers 1.11.4-0xenial-20181118-074846-0800 armhf 3D interactive marker communication library for RViz and similar tools.
ii ros-kinetic-joint-state-controller 0.13.4-0xenial-20181107-195218-0800 armhf Controller to publish joint state
ii ros-kinetic-joint-state-publisher 1.12.13-0xenial-20181107-195229-0800 armhf This package contains a tool for setting and publishing joint state values for a given URDF.
ii ros-kinetic-joy 1.12.0-0xenial-20181107-193643-0800 armhf ROS driver for a generic Linux joystick.
ii ros-kinetic-kdl-conversions 1.11.9-0xenial-20181107-165937-0800 armhf Conversion functions between KDL and geometry_msgs types.
ii ros-kinetic-kdl-parser 1.12.11-0xenial-20180826-085509-0800 armhf The Kinematics and Dynamics Library (KDL) defines a tree structure to represent the kinematic and dynamic parameters of a robot mechanism.
ii ros-kinetic-laser-geometry 1.6.4-0xenial-20181118-090725-0800 armhf This package contains a class for converting from a 2D laser scan as defined by sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud or sensor_msgs/PointCloud2.
ii ros-kinetic-librviz-tutorial 0.10.3-0xenial-20181118-153410-0800 armhf Tutorial showing how to compile your own C++ program with RViz displays and features.
ii ros-kinetic-loki-base-node 0.2.2-0xenial-20180826-024816-0800 armhf loki_base_node has a ROS node to communicate with the Loki robot base and allow communication with the motors and sonars
ii ros-kinetic-loki-bringup 0.0.2-0xenial-20181118-151925-0800 armhf The loki_bringup package
ii ros-kinetic-loki-demos 0.0.2-0xenial-20181118-152400-0800 armhf The loki_demos package
ii ros-kinetic-loki-description 0.0.2-0xenial-20181118-120057-0800 armhf The loki_description package
ii ros-kinetic-loki-nav 0.0.2-0xenial-20181118-145235-0800 armhf The loki_nav package
ii ros-kinetic-loki-robot 0.0.2-0xenial-20181118-152827-0800 armhf Metapackage for loki configuration
ii ros-kinetic-loki-teleop 0.0.2-0xenial-20181108-022523-0800 armhf The loki_teleop package
ii ros-kinetic-magni-bringup 0.4.3-0xenial~tbpo1 armhf The magni_bringup package
ii ros-kinetic-magni-demos 0.4.3-0xenial~tbpo1 armhf The magni_demos package
ii ros-kinetic-magni-description 0.4.3-0xenial~tbpo1 armhf The magni_description package
ii ros-kinetic-magni-nav 0.4.3-0xenial~tbpo1 armhf The magni_nav package
ii ros-kinetic-magni-robot 0.4.3-0xenial~tbpo1 armhf The magni_robot package
ii ros-kinetic-magni-teleop 0.4.3-0xenial~tbpo1 armhf The magni_teleop package
ii ros-kinetic-magni-viz 0.4.3-0xenial~tbpo1 armhf The magni_viz package
ii ros-kinetic-map-msgs 1.13.0-0xenial-20181107-192921-0800 armhf This package defines messages commonly used in mapping packages.
ii ros-kinetic-media-export 0.2.0-0xenial-20180810-200720-0800 armhf Placeholder package enabling generic export of media paths.
ii ros-kinetic-message-filters 1.12.14-0xenial-20180826-043114-0800 armhf A set of message filters which take in messages and may output those messages at a later time, based on the conditions that filter needs met.
ii ros-kinetic-message-generation 0.4.0-0xenial-20180825-221102-0800 armhf Package modeling the build-time dependencies for generating language bindings of messages.
ii ros-kinetic-message-runtime 0.4.12-0xenial-20180825-225700-0800 armhf Package modeling the run-time dependencies for language bindings of messages.
ii ros-kinetic-mk 1.14.4-0xenial-20180825-233453-0800 armhf A collection of .mk include files for building ROS architectural elements.
ii ros-kinetic-move-base 1.14.4-0xenial-20181118-164824-0800 armhf The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base.
ii ros-kinetic-move-base-msgs 1.13.0-0xenial-20181107-144109-0800 armhf Holds the action description and relevant messages for the move_base package
ii ros-kinetic-move-basic 0.3.2-0xenial-20181118-122928-0800 armhf Simple navigation package
ii ros-kinetic-nav-core 1.14.4-0xenial-20181118-120023-0800 armhf This package provides common interfaces for navigation specific robot actions.
ii ros-kinetic-nav-msgs 1.12.7-0xenial-20181107-075240-0800 armhf nav_msgs defines the common messages used to interact with the navigation stack.
ii ros-kinetic-navfn 1.14.4-0xenial-20181118-123024-0800 armhf navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base.
ii ros-kinetic-nodelet 1.9.14-0xenial-20181007-054434-0800 armhf The nodelet package is designed to provide a way to run multiple algorithms in the same process with zero copy transport between algorithms.
ii ros-kinetic-nodelet-core 1.9.14-0xenial-20181007-085708-0800 armhf Nodelet Core Metapackage
ii ros-kinetic-nodelet-topic-tools 1.9.14-0xenial-20181007-062732-0800 armhf This package contains common nodelet tools such as a mux, demux and throttle.
ii ros-kinetic-nodelet-tutorial-math 0.1.10-0xenial-20181007-090106-0800 armhf Package for Nodelet tutorial.
ii ros-kinetic-octomap 1.8.1-0xenial-20180810-200824-0800 armhf The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++.
ii ros-kinetic-opencv3 3.3.1-5xenial-20180810-201059-0800 armhf OpenCV 3.x
ii ros-kinetic-orocos-kdl 1.3.1-0xenial-20180810-201114-0800 armhf This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project.
ii ros-kinetic-pcl-conversions 0.2.1-0xenial-20181107-203241-0800 armhf Provides conversions from PCL data types and ROS message types
ii ros-kinetic-pcl-msgs 0.2.0-0xenial-20181107-200527-0800 armhf Package containing PCL (Point Cloud Library)-related ROS messages.
ii ros-kinetic-pcl-ros 1.4.4-0xenial-20181117-210326-0800 armhf PCL (Point Cloud Library) ROS interface stack.
ii ros-kinetic-pluginlib 1.11.3-0xenial-20180826-010614-0800 armhf The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure.
ii ros-kinetic-pluginlib-tutorials 0.1.10-0xenial-20180826-015420-0800 armhf The pluginlib_tutorials package
ii ros-kinetic-python-orocos-kdl 1.3.1-0xenial-20180810-203334-0800 armhf This package contains the python bindings PyKDL for the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project.
ii ros-kinetic-python-qt-binding 0.3.4-0xenial-20180825-233451-0800 armhf This stack provides Python bindings for Qt.
ii ros-kinetic-qt-dotgraph 0.3.11-0xenial-20180830-125014-0800 armhf qt_dotgraph provides helpers to work with dot graphs.
ii ros-kinetic-qt-gui 0.3.11-0xenial-20180830-125118-0800 armhf qt_gui provides the infrastructure for an integrated graphical user interface based on Qt.
ii ros-kinetic-qt-gui-cpp 0.3.11-0xenial-20180830-131925-0800 armhf qt_gui_cpp provides the foundation for C++-bindings for qt_gui and creates bindings for every generator available.
ii ros-kinetic-qt-gui-py-common 0.3.11-0xenial-20180830-125116-0800 armhf qt_gui_py_common provides common functionality for GUI plugins written in Python.
ii ros-kinetic-qwt-dependency 1.1.0-0xenial-20180810-201841-0800 armhf This encapsulates the Qwt dependency for a specific ROS distribution and its Qt version
ii ros-kinetic-random-numbers 0.3.1-0xenial-20180810-201849-0800 armhf This library contains wrappers for generating floating point values, integers, quaternions using boost libraries.
ii ros-kinetic-raspicam-node 0.4.0-2xenial armhf Package to access the Raspberry Pi Camera from ROS.
ii ros-kinetic-realtime-tools 1.11.0-0xenial-20180826-041015-0800 armhf Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.
ii ros-kinetic-resource-retriever 1.12.4-0xenial-20180826-010616-0800 armhf This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and loads the data into memory.
ii ros-kinetic-robot 1.3.2-0xenial-20181118-140556-0800 armhf A metapackage which extends ros_base and includes ROS libaries for any robot hardware.
ii ros-kinetic-robot-model 1.12.11-0xenial-20181108-045925-0800 armhf robot_model contains packages for modeling various aspects of robot information, specified in the Xml Robot Description Format (URDF).
ii ros-kinetic-robot-state-publisher 1.13.6-0xenial-20181118-043339-0800 armhf This package allows you to publish the state of a robot to tf.
ii ros-kinetic-robot-upstart 0.3.0-0xenial-20180826-111949-0800 armhf The robot_upstart package provides scripts which may be used to install and uninstall Ubuntu Linux upstart jobs which launch groups of roslaunch files.
ii ros-kinetic-ros 1.14.4-0xenial-20180826-002951-0800 armhf ROS packaging system
ii ros-kinetic-ros-base 1.3.2-0xenial-20181107-230156-0800 armhf A metapackage which extends ros_core and includes other basic non-robot tools like actionlib, dynamic reconfigure, nodelets, and pluginlib.
ii ros-kinetic-ros-comm 1.12.14-0xenial-20180826-121703-0800 armhf ROS communications-related packages, including core client libraries (roscpp, rospy) and graph introspection tools (rostopic,rosnode, rosservice, rosparam).
ii ros-kinetic-ros-core 1.3.2-0xenial-20181107-223037-0800 armhf A metapackage to aggregate the packages required to use publish / subscribe, services, launch files, and other core ROS concepts.
ii ros-kinetic-ros-environment 1.0.0-0xenial-20180810-202341-0800 armhf The package provides the environment variables `ROS_VERSION`, `ROS_DISTRO`, `ROS_PACKAGE_PATH`, and `ROS_ETC_DIR`.
ii ros-kinetic-ros-tutorials 0.7.1-0xenial-20181108-023133-0800 armhf ros_tutorials contains packages that demonstrate various features of ROS, as well as support packages which help demonstrate those features.
ii ros-kinetic-rosapi 0.9.0-0xenial-20181117-144036-0800 armhf Provides service calls for getting ros meta-information, like list of topics, services, params, etc.
ii ros-kinetic-rosauth 0.1.7-0xenial-20180826-042908-0800 armhf Server Side tools for Authorization and Authentication of ROS Clients
ii ros-kinetic-rosbag 1.12.14-0xenial-20180826-050355-0800 armhf This is a set of tools for recording from and playing back to ROS topics.
ii ros-kinetic-rosbag-migration-rule 1.0.0-0xenial-20180810-202524-0800 armhf This empty package allows to export rosbag migration rule files without depending on rosbag.
ii ros-kinetic-rosbag-storage 1.12.14-0xenial-20180825-230001-0800 armhf This is a set of tools for recording from and playing back ROS message without relying on the ROS client library.
ii ros-kinetic-rosbash 1.14.4-0xenial-20180825-092258-0800 armhf Assorted shell commands for using ros with bash.
ii ros-kinetic-rosboost-cfg 1.14.4-0xenial-20180825-092558-0800 armhf Contains scripts used by the rosboost-cfg tool for determining cflags/lflags/etc.
ii ros-kinetic-rosbridge-library 0.9.0-0xenial-20181117-044538-0800 armhf The core rosbridge package, repsonsible for interpreting JSON andperforming the appropriate ROS action, like subscribe, publish, call service, and interact with params.
ii ros-kinetic-rosbridge-server 0.9.0-0xenial-20181117-205952-0800 armhf A WebSocket interface to rosbridge.
ii ros-kinetic-rosbuild 1.14.4-0xenial-20180825-232419-0800 armhf rosbuild contains scripts for managing the CMake-based build system for ROS.
ii ros-kinetic-rosclean 1.14.4-0xenial-20180825-093320-0800 armhf rosclean: cleanup filesystem resources (e.g.
ii ros-kinetic-rosconsole 1.12.14-0xenial-20180825-233546-0800 armhf ROS console output library.
ii ros-kinetic-rosconsole-bridge 0.5.2-0xenial-20180826-010615-0800 armhf rosconsole_bridge is a package used in conjunction with console_bridge and rosconsole for connecting console_bridge-based logging to rosconsole-based logging.
ii ros-kinetic-roscpp 1.12.14-0xenial-20180826-005640-0800 armhf roscpp is a C++ implementation of ROS.
ii ros-kinetic-roscpp-core 0.6.11-0xenial-20180825-225715-0800 armhf Underlying data libraries for roscpp messages.
ii ros-kinetic-roscpp-serialization 0.6.11-0xenial-20180825-222522-0800 armhf roscpp_serialization contains the code for serialization as described in MessagesSerializationAndAdaptingTypes.
ii ros-kinetic-roscpp-traits 0.6.11-0xenial-20180825-221111-0800 armhf roscpp_traits contains the message traits code as described in MessagesTraits.
ii ros-kinetic-roscpp-tutorials 0.7.1-0xenial-20180826-014506-0800 armhf This package attempts to show the features of ROS step-by-step, including using messages, servers, parameters, etc.
ii ros-kinetic-roscreate 1.14.4-0xenial-20180825-093539-0800 armhf roscreate contains a tool that assists in the creation of ROS filesystem resources.
ii ros-kinetic-rosgraph 1.12.14-0xenial-20180825-093622-0800 armhf rosgraph contains the rosgraph command-line tool, which prints information about the ROS Computation Graph.
ii ros-kinetic-rosgraph-msgs 1.11.2-0xenial-20180826-004058-0800 armhf Messages relating to the ROS Computation Graph.
ii ros-kinetic-roslang 1.14.4-0xenial-20180825-092819-0800 armhf roslang is a common package that all ROS client libraries depend on.
ii ros-kinetic-roslaunch 1.12.14-0xenial-20180826-025151-0800 armhf roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server.
ii ros-kinetic-roslib 1.14.4-0xenial-20180825-093708-0800 armhf Base dependencies and support libraries for ROS.
ii ros-kinetic-roslint 0.11.0-0xenial-20180810-202802-0800 armhf CMake lint commands for ROS packages.
ii ros-kinetic-roslisp 1.9.21-0xenial-20180826-005704-0800 armhf Lisp client library for ROS, the Robot Operating System.
ii ros-kinetic-roslz4 1.12.14-0xenial-20180825-221154-0800 armhf A Python and C++ implementation of the LZ4 streaming format.
ii ros-kinetic-rosmake 1.14.4-0xenial-20180825-094115-0800 armhf rosmake is a ros dependency aware build tool which can be used to build all dependencies in the correct order.
ii ros-kinetic-rosmaster 1.12.14-0xenial-20180825-094934-0800 armhf ROS Master implementation.
ii ros-kinetic-rosmsg 1.12.14-0xenial-20180826-052726-0800 armhf rosmsg contains two command-line tools: rosmsg and rossrv.
ii ros-kinetic-rosnode 1.12.14-0xenial-20180826-112548-0800 armhf rosnode is a command-line tool for displaying debug information about ROS Nodes, including publications, subscriptions and connections.
ii ros-kinetic-rosout 1.12.14-0xenial-20180826-023503-0800 armhf System-wide logging mechanism for messages sent to the /rosout topic.
ii ros-kinetic-rospack 2.4.4-0xenial-20180810-194111-0800 armhf ROS Package Tool
ii ros-kinetic-rosparam 1.12.14-0xenial-20180825-095009-0800 armhf rosparam contains the rosparam command-line tool for getting and setting ROS Parameters on the Parameter Server using YAML-encoded files.
ii ros-kinetic-rospy 1.12.14-0xenial-20180826-023616-0800 armhf rospy is a pure Python client library for ROS.
ii ros-kinetic-rospy-tutorials 0.7.1-0xenial-20180826-043034-0800 armhf This package attempts to show the features of ROS python API step-by-step, including using messages, servers, parameters, etc.
ii ros-kinetic-rosservice 1.12.14-0xenial-20180826-095608-0800 armhf rosservice contains the rosservice command-line tool for listing and querying ROS Services.
ii ros-kinetic-rostest 1.12.14-0xenial-20180826-041300-0800 armhf Integration test suite based on roslaunch that is compatible with xUnit frameworks.
ii ros-kinetic-rostime 0.6.11-0xenial-20180825-094114-0800 armhf Time and Duration implementations for C++ libraries, including roscpp.
ii ros-kinetic-rostopic 1.12.14-0xenial-20180826-095615-0800 armhf rostopic contains the rostopic command-line tool for displaying debug information about ROS Topics, including publishers, subscribers, publishing rate, and ROS Messages.
ii ros-kinetic-rosunit 1.14.4-0xenial-20180825-095334-0800 armhf Unit-testing package for ROS.
ii ros-kinetic-roswtf 1.12.14-0xenial-20180826-115200-0800 armhf roswtf is a tool for diagnosing issues with a running ROS system.
ii ros-kinetic-rotate-recovery 1.14.4-0xenial-20181118-162006-0800 armhf This package provides a recovery behavior for the navigation stack that attempts to clear space by performing a 360 degree rotation of the robot.
ii ros-kinetic-rqt-action 0.4.9-0xenial-20181108-054618-0800 armhf rqt_action provides a feature to introspect all available ROS action (from actionlib) types.
ii ros-kinetic-rqt-bag 0.4.12-0xenial-20180830-141752-0800 armhf rqt_bag provides a GUI plugin for displaying and replaying ROS bag files.
ii ros-kinetic-rqt-bag-plugins 0.4.12-0xenial-20181108-053928-0800 armhf rqt_bag provides a GUI plugin for displaying and replaying ROS bag files.
ii ros-kinetic-rqt-common-plugins 0.4.8-0xenial-20181108-064934-0800 armhf rqt_common_plugins metapackage provides ROS backend graphical tools suite that can be used on/off of robot runtime.
ii ros-kinetic-rqt-console 0.4.8-0xenial-20181108-053406-0800 armhf rqt_console provides a GUI plugin for displaying and filtering ROS messages.
ii ros-kinetic-rqt-dep 0.4.9-0xenial-20180830-141217-0800 armhf rqt_dep provides a GUI plugin for visualizing the ROS dependency graph.
ii ros-kinetic-rqt-graph 0.4.9-0xenial-20180830-140059-0800 armhf rqt_graph provides a GUI plugin for visualizing the ROS computation graph.
ii ros-kinetic-rqt-gui 0.5.0-0xenial-20180830-132521-0800 armhf rqt_gui provides the main to start an instance of the ROS integrated graphical user interface provided by qt_gui.
ii ros-kinetic-rqt-gui-cpp 0.5.0-0xenial-20181007-083744-0800 armhf rqt_gui_cpp enables GUI plugins to use the C++ client library for ROS.
ii ros-kinetic-rqt-gui-py 0.5.0-0xenial-20180830-134216-0800 armhf rqt_gui_py enables GUI plugins to use the Python client library for ROS.
ii ros-kinetic-rqt-image-view 0.4.13-0xenial-20181107-202008-0800 armhf rqt_image_view provides a GUI plugin for displaying images using image_transport.
ii ros-kinetic-rqt-launch 0.4.8-0xenial-20181108-053957-0800 armhf This rqt plugin ROS package provides easy view of .launch files.
ii ros-kinetic-rqt-logger-level 0.4.8-0xenial-20180830-141722-0800 armhf rqt_logger_level provides a GUI plugin for configuring the logger level of ROS nodes.
ii ros-kinetic-rqt-moveit 0.5.7-0xenial-20181107-232727-0800 armhf An rqt-based tool that assists monitoring tasks for MoveIt! motion planner developers and users.
ii ros-kinetic-rqt-msg 0.4.8-0xenial-20181108-054156-0800 armhf A Python GUI plugin for introspecting available ROS message types.
ii ros-kinetic-rqt-nav-view 0.5.7-0xenial-20181118-082410-0800 armhf rqt_nav_view provides a gui for viewing navigation maps and paths.
ii ros-kinetic-rqt-plot 0.4.8-0xenial-20181108-053413-0800 armhf rqt_plot provides a GUI plugin visualizing numeric values in a 2D plot using different plotting backends.
ii ros-kinetic-rqt-pose-view 0.5.8-0xenial-20181118-082442-0800 armhf rqt_pose_view provides a GUI plugin for visualizing 3D poses.
ii ros-kinetic-rqt-publisher 0.4.8-0xenial-20181108-053404-0800 armhf rqt_publisher provides a GUI plugin for publishing arbitrary messages with fixed or computed field values.
ii ros-kinetic-rqt-py-common 0.5.0-0xenial-20181107-230156-0800 armhf rqt_py_common provides common functionality for rqt plugins written in Python.
ii ros-kinetic-rqt-py-console 0.4.8-0xenial-20180830-140335-0800 armhf rqt_py_console is a Python GUI plugin providing an interactive Python console.
ii ros-kinetic-rqt-reconfigure 0.4.10-0xenial-20181108-055039-0800 armhf This rqt plugin succeeds former dynamic_reconfigure’s GUI (reconfigure_gui), and provides the way to view and edit the parameters that are accessible via dynamic_reconfigure.
ii ros-kinetic-rqt-robot-dashboard 0.5.7-0xenial-20181118-134858-0800 armhf rqt_robot_dashboard provides an infrastructure for building robot dashboard plugins in rqt.
ii ros-kinetic-rqt-robot-monitor 0.5.8-1xenial-20181107-231637-0800 armhf rqt_robot_monitor displays diagnostics_agg topics messages that are published by diagnostic_aggregator.
ii ros-kinetic-rqt-robot-plugins 0.5.7-0xenial-20181118-160131-0800 armhf Metapackage of rqt plugins that are particularly used with robots during its operation.
ii ros-kinetic-rqt-robot-steering 0.5.9-0xenial-20181107-174122-0800 armhf rqt_robot_steering provides a GUI plugin for steering a robot using Twist messages.
ii ros-kinetic-rqt-runtime-monitor 0.5.7-0xenial-20181107-135602-0800 armhf rqt_runtime_monitor provides a GUI plugin viewing DiagnosticsArray messages.
ii ros-kinetic-rqt-rviz 0.5.10-0xenial-20181118-153515-0800 armhf rqt_rviz provides a GUI plugin embedding RViz.
ii ros-kinetic-rqt-service-caller 0.4.8-0xenial-20181108-053441-0800 armhf rqt_service_caller provides a GUI plugin for calling arbitrary services.
ii ros-kinetic-rqt-shell 0.4.9-0xenial-20180830-140335-0800 armhf rqt_shell is a Python GUI plugin providing an interactive shell.
ii ros-kinetic-rqt-srv 0.4.8-0xenial-20181108-064322-0800 armhf A Python GUI plugin for introspecting available ROS message types.
ii ros-kinetic-rqt-tf-tree 0.5.8-0xenial-20181117-141624-0800 armhf rqt_tf_tree provides a GUI plugin for visualizing the ROS TF frame tree.
ii ros-kinetic-rqt-top 0.4.8-0xenial-20180830-143049-0800 armhf RQT plugin for monitoring ROS processes.
ii ros-kinetic-rqt-topic 0.4.10-0xenial-20180830-142330-0800 armhf rqt_topic provides a GUI plugin for displaying debug information about ROS topics including publishers, subscribers, publishing rate, and ROS Messages.
ii ros-kinetic-rqt-web 0.4.8-0xenial-20180830-140736-0800 armhf rqt_web is a simple web content viewer for rqt.
ii ros-kinetic-rviz 1.12.16-0xenial-20181118-092932-0800 armhf 3D visualization tool for ROS.
ii ros-kinetic-rviz-plugin-tutorials 0.10.3-0xenial-20181118-153556-0800 armhf Tutorials showing how to write plugins for RViz.
ii ros-kinetic-rviz-python-tutorial 0.10.3-0xenial-20181118-153649-0800 armhf Tutorials showing how to call into rviz internals from python scripts.
ii ros-kinetic-self-test 1.9.3-0xenial-20181107-135725-0800 armhf self_test
ii ros-kinetic-sensor-msgs 1.12.7-0xenial-20181107-073853-0800 armhf This package defines messages for commonly used sensors, including cameras and scanning laser rangefinders.
ii ros-kinetic-serial 1.2.1-0xenial-20180810-203008-0800 armhf Serial is a cross-platform, simple to use library for using serial ports on computers.
ii ros-kinetic-shape-msgs 1.12.7-0xenial-20181107-082421-0800 armhf This package contains messages for defining shapes, such as simple solid object primitives (cube, sphere, etc), planes, and meshes.
ii ros-kinetic-sick-tim 0.0.13-0xenial-20181118-120557-0800 armhf A ROS driver for the SICK TiM and the SICK MRS 1000 laser scanners.
ii ros-kinetic-smach 2.0.1-0xenial-20180810-203026-0800 armhf SMACH is a task-level architecture for rapidly creating complex robot behavior.
ii ros-kinetic-smach-msgs 2.0.1-0xenial-20180825-235507-0800 armhf this package contains a set of messages that are used by the introspection interfaces for smach.
ii ros-kinetic-smach-ros 2.0.1-0xenial-20181107-150947-0800 armhf The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS.
ii ros-kinetic-smclib 1.8.3-0xenial-20181006-210825-0800 armhf The State Machine Compiler (SMC) from http://smc.sourceforge.net/ converts a language-independent description of a state machine into the source code to support that state machine.
ii ros-kinetic-std-msgs 0.5.11-0xenial-20180825-232501-0800 armhf Standard ROS Messages including common message types representing primitive data types and other basic message constructs, such as multiarrays.
ii ros-kinetic-std-srvs 1.11.2-0xenial-20180825-232447-0800 armhf Common service definitions.
ii ros-kinetic-stereo-msgs 1.12.7-0xenial-20181107-082318-0800 armhf stereo_msgs contains messages specific to stereo processing, such as disparity images.
ii ros-kinetic-teleop-twist-joy 0.1.2-0xenial-20181107-195352-0800 armhf Generic joystick teleop for twist robots.
ii ros-kinetic-teleop-twist-keyboard 0.6.2-0xenial-20181107-174545-0800 armhf Generic keyboard teleop for twist robots.
ii ros-kinetic-tf 1.11.9-0xenial-20181117-144600-0800 armhf tf is a package that lets the user keep track of multiple coordinate frames over time.
ii ros-kinetic-tf-conversions 1.11.9-0xenial-20181118-102511-0800 armhf This package contains a set of conversion functions to convert common tf datatypes (point, vector, pose, etc) into semantically identical datatypes used by other libraries.
ii ros-kinetic-tf2 0.5.20-0xenial-20181117-044314-0800 armhf tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time.
ii ros-kinetic-tf2-eigen 0.5.20-0xenial-20181117-050025-0800 armhf tf2_eigen
ii ros-kinetic-tf2-geometry-msgs 0.5.20-0xenial-20181117-140620-0800 armhf tf2_geometry_msgs
ii ros-kinetic-tf2-kdl 0.5.20-0xenial-20181117-140622-0800 armhf KDL binding for tf2
ii ros-kinetic-tf2-msgs 0.5.20-0xenial-20181116-182015-0800 armhf tf2_msgs
ii ros-kinetic-tf2-py 0.5.20-0xenial-20181117-050109-0800 armhf The tf2_py package
ii ros-kinetic-tf2-ros 0.5.20-0xenial-20181117-103931-0800 armhf This package contains the ROS bindings for the tf2 library, for both Python and C++.
ii ros-kinetic-tf2-web-republisher 0.3.2-0xenial-20181118-043527-0800 armhf Republishing of Selected TFs
ii ros-kinetic-topic-tools 1.12.14-0xenial-20180826-043045-0800 armhf Tools for directing, throttling, selecting, and otherwise messing with ROS topics at a meta level.
ii ros-kinetic-trajectory-msgs 1.12.7-0xenial-20181107-075527-0800 armhf This package defines messages for defining robot trajectories.
ii ros-kinetic-turtle-actionlib 0.1.10-0xenial-20181107-181337-0800 armhf turtle_actionlib demonstrates how to write an action server and client with the turtlesim.
ii ros-kinetic-turtle-tf 0.2.2-0xenial-20181118-102608-0800 armhf turtle_tf demonstrates how to write a tf broadcaster and listener with the turtlesim.
ii ros-kinetic-turtle-tf2 0.2.2-0xenial-20181117-143825-0800 armhf turtle_tf2 demonstrates how to write a tf2 broadcaster and listener with the turtlesim.
ii ros-kinetic-turtlesim 0.7.1-0xenial-20181107-174920-0800 armhf turtlesim is a tool made for teaching ROS and ROS packages.
ii ros-kinetic-ubiquity-motor 0.7.1-0xenial~tbpo1 armhf Provides a ROS interface to Ubiquity Robotics Magni motor controllers
ii ros-kinetic-urdf 1.12.12-0xenial-20180826-083711-0800 armhf This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model.
ii ros-kinetic-urdf-parser-plugin 1.12.12-0xenial-20180810-203930-0800 armhf This package contains a C++ base class for URDF parsers.
ii ros-kinetic-visualization-marker-tutorials 0.10.3-0xenial-20181107-211421-0800 armhf The visulalization_marker_tutorials package
ii ros-kinetic-visualization-msgs 1.12.7-0xenial-20181107-074756-0800 armhf visualization_msgs is a set of messages used by higher level packages, such as rviz, that deal in visualization-specific data.
ii ros-kinetic-visualization-tutorials 0.10.3-0xenial-20181118-160645-0800 armhf Metapackage referencing tutorials related to rviz and visualization.
ii ros-kinetic-viz 1.3.2-0xenial-20181118-160717-0800 armhf A metapackage to aggregate several packages.
ii ros-kinetic-voxel-grid 1.14.4-0xenial-20180826-024302-0800 armhf voxel_grid provides an implementation of an efficient 3D voxel grid.
ii ros-kinetic-webkit-dependency 1.1.0-0xenial-20180810-204340-0800 armhf This encapsulates the WebKit dependency for a specific ROS distribution and its Qt version
ii ros-kinetic-xacro 1.11.3-0xenial-20180826-110141-0800 armhf Xacro (XML Macros) Xacro is an XML macro language.
ii ros-kinetic-xmlrpcpp 1.12.14-0xenial-20180825-221450-0800 armhf XmlRpc++ is a C++ implementation of the XML-RPC protocol.