An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability. Features intuitive APIs for parameter management, action handling, and error-resilient RPC. Designed by Urban Machine for safe and scalable robotics.
For in-depth documentation on the repository features, read the About Template documentation.
This project is a collection of ROS utilities that play nicely together. It's
recommended to start by reading the highlights in docs/. For smaller utilities, they
will be documented in READMEs in their respective modules.
For example, node_helpers.timing has a README describing the API's in that module.
However node_helpers.parameters has a page under docs/ that describes the
philosophy and usage of the module in depth.
This project depends on Docker. The linting tooling requires Poetry to run.
This project is intended to be used as a library, however there is a showcase launch-profile that demonstrates some of the library's features.
To run the project, use the following command:
docker/launch node_helpers_showcaseTake a look at the nodes under pkgs/node_helpers/nodes, and the launch file under
launch-profiles to get an idea of some of the libraries features.
Then, open http://localhost/ on your browser to view the project logs.
This repository was initialized by the create-ros-app template. Contributions are welcome!