ros2-reference

ROS 2 ecosystem reference — docs, examples, bridges collected as git submodules.

Submodules

Core Infrastructure

Repo	Description
ros2	ROS 2 metapackage & repos file
rcl	ROS 2 client library (C)
rclcpp	ROS 2 C++ client library
rclpy	ROS 2 Python client library
rclc	ROS 2 C client library (micro-ROS)
rcutils	C utility functions
common_interfaces	Standard message/service definitions
rosidl	Interface definition & code generation

Middleware (RMW)

Repo	Description
rmw	ROS middleware interface
rmw_fastrtps	Fast-RTPS (eProsima) RMW
rmw_cyclonedds	Eclipse Cyclone DDS RMW
rmw_zenoh	Zenoh-based RMW (new, performant)

Launch & CLI

Repo	Description
launch	Launch system core
launch_ros	ROS-specific launch extensions
ros2cli	ros2 command-line tools

Visualization & Recording

Repo	Description
rviz	3D visualization tool
rosbag2	Bag recording & playback

Transforms & Geometry

Repo	Description
geometry2	tf2 transform library
message_filters	Time-synchronized message filters

Bridges & Interop

Repo	Description
ros1_bridge	ROS 1 <-> ROS 2 bridge
domain_bridge	Cross-domain bridging

Security & Tracing

Repo	Description
sros2	Security tools (DDS security)
ros2_tracing	LTTng-based tracing
realtime_support	Realtime utilities & tests

Tutorials, Examples & Docs

Repo	Description
ros2_documentation	Official docs (docs.ros.org)
design	Design documents & REPs
demos	Demo nodes
examples	Code examples (C++, Python)
tutorials	Tutorial packages
teleop_twist_keyboard	Keyboard teleoperation

Usage

git clone --recurse-submodules ssh://git@git.0xdao.app:2222/caoer115/ros2-reference.git