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    1. 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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