ROS 2 documentation Logo
  • About ROS
  • Get started
    • Installation
      • Installing on Ubuntu - how-to
      • Installing on Windows (binary) - how-to
      • Installing on RHEL / Fedora (RPM packages) - how-to
      • Advanced installation options
        • Installing on Ubuntu (source) - how-to
        • Installing on Ubuntu (source Pixi) - how-to
        • Installing on Ubuntu (binary) - how-to
        • Installing on Windows (source) - how-to
        • Installing on RHEL (source) - how-to
        • Installing on RHEL (binary) - how-to
        • Installing on macOS (source) - how-to
        • Installing latest development (source) - how-to
        • Maintaining source checkout - how-to
      • RMW implementations
        • DDS implementations
          • Working with Eclipse Cyclone DDS - how-to
          • Working with GurumNetworks GurumDDS - how-to
          • Working with RTI Connext DDS - how-to
          • Working with eProsima Fast DDS - how-to
        • Non-DDS-Implementations
          • Working with Zenoh - how-to
        • Working with multiple ROS 2 middleware implementations - how-to
      • Mirrors
      • Installing from the snapshot repository
      • Installing ROS 2 on Raspberry Pi - how-to
      • Troubleshooting installation - how-to
    • First steps with ROS - learning path
    • Setting up your environment - how-to
    • Setting up Turtlesim - how-to
    • Glossary
  • Distributions
    • Development process for a release
    • Lyrical Luth (codename ‘lyrical’; May, 2026)
      • ROS 2 Lyrical Luth Complete Changelog
      • Lyrical Luth Release Timeline
      • Lyrical Luth Supported Platforms
    • Kilted Kaiju (codename ‘kilted’; May, 2025)
      • ROS 2 Kilted Kaiju Complete Changelog
    • Jazzy Jalisco (jazzy)
      • Jazzy Jalisco changelog
    • Humble Hawksbill (humble)
      • Humble Hawksbill changelog
    • Rolling Ridley (rolling)
    • Development Distribution
      • Makoa Mata-mata (codename makoa; May, 2027)
        • Makoa Mata-mata Release Timeline
        • Makoa Mata-mata Supported Platforms
    • End-of-Life Distributions
      • Iron Irwini (iron)
        • Iron Irwini Changelog
      • Galactic Geochelone (galactic)
        • Galactic Geochelone changelog
      • Foxy Fitzroy (foxy)
      • Eloquent Elusor (eloquent)
      • Dashing Diademata (dashing)
      • Crystal Clemmys (crystal)
      • Bouncy Bolson (bouncy)
      • Ardent Apalone (ardent)
      • Beta 3 (r2b3)
      • Beta 2 (r2b2)
      • Beta 1 (Asphalt)
      • Alphas
  • Framework
    • How ROS works
    • Nodes
      • Discovery
      • The ROS_DOMAIN_ID
      • Logging
      • Composition
      • Working with nodes
        • Learning about nodes - tutorial
        • Using rqt_console to view logs - tutorial
        • Launching multiple nodes — tutorial - how-to
        • Writing a Composable Node (C++) — tutorial
        • Composing multiple nodes in a single process — tutorial
        • Using the Node Interfaces Template Class (C++) — tutorial
        • Summary
        • Using Subordinate Nodes (C++) — tutorial
        • Managing node lifecycles - example
        • Setting up efficient intra-process communication — tutorial
        • Using Callback Groups — how-to
        • Writing an async node with asyncio (Python) - tutorial
    • Interfaces (topics, services, actions)
      • Interfaces
        • Topics vs Services vs Actions
        • Tf2
        • Working with interfaces
          • Recording and playing back data — tutorial
          • Introducing tf2 — tutorial
          • Quaternion fundamentals — tutorial
          • About rosidl::Buffer backends
            • Using rosidl::Buffer backends - how-to
            • Transporting GPU buffers with rosidl::Buffer - tutorial
            • Writing a rosidl::Buffer backend - tutorial
            • Writing a rosidl::Buffer compatible conversions package - tutorial
      • Topics
        • Learning about topics - tutorial
        • Quality of Service settings
        • Topic statistics
        • Working with topics
          • Topic Keys — tutorial
          • Topic Keys Subscription Filtering — tutorial
          • Creating a content filtering subscription — tutorial
          • Using quality-of-service settings for lossy networks — tutorial
          • Configuring QoS overrides using parameters — tutorial
          • Wait for acknowledgment — tutorial
      • Services
        • Working with services
          • Learning about services - tutorial
          • Synchronous vs. asynchronous service clients — tutorial
      • Actions
        • Working with actions
          • Learning about actions - tutorial
          • Configure action introspection — tutorial
          • Creating an action — tutorial
          • Writing an action server and client (C++) — tutorial
          • Writing an action server and client (Python) — tutorial
    • Parameters
      • Working with parameters - how-to
        • Learning about parameters - tutorial
        • Using the ros2 param command-line tool — how-to
        • Monitoring for parameter changes (Python) — tutorial
        • Monitoring for parameter changes (C++) — tutorial
    • Client libraries
      • Different ROS 2 middleware vendors
      • Executors
      • Internal ROS 2 interfaces
      • ROS 2 middleware implementations
      • Working with Client libraries
        • Using colcon to build packages — tutorial
        • Creating a workspace — tutorial
        • Creating a package — tutorial
        • Writing a simple publisher and subscriber (C++) — tutorial
        • Writing a simple publisher and subscriber (Python) — tutorial
        • Writing a simple service and client (C++) — tutorial
        • Writing a simple service and client (Python) — tutorial
        • Creating custom msg and srv files — tutorial
        • Implementing custom interfaces — tutorial
        • Using parameters in a class (C++) — tutorial
        • Using parameters in a class (Python) — tutorial
        • Using ros2doctor to identify issues — tutorial
        • Creating and using plugins (C++) — tutorial
        • Managing Dependencies with rosdep — tutorial
        • tf2 — learning path
          • Writing a static broadcaster (Python) — tutorial
          • Writing a static broadcaster (C++) — tutorial
          • Writing a broadcaster (Python) — tutorial
          • Writing a broadcaster (C++) — tutorial
          • Writing a listener (Python) — tutorial
          • Writing a listener (C++) — tutorial
          • Adding a frame (Python) — tutorial
          • Adding a frame (C++) — tutorial
          • Using time (C++) — tutorial
          • Traveling in time (C++) — tutorial
          • Using stamped datatypes with tf2_ros::MessageFilter — tutorial
        • Implementing a custom memory allocator — tutorial
        • Recording a bag from a node (C++) — tutorial
        • Recording a bag from a node (Python) — tutorial
        • Reading from a bag file (C++) — tutorial
        • Reading from a bag file (Python) — tutorial
        • Creating an rmw implementation — tutorial
        • Configure Zero Copy Loaned Messages — how-to
  • Tools
    • Introspection and analysis
      • Introspection with command line tools
      • Publishing messages using YAML files - tutorial
      • Enabling topic statistics (C++) - tutorial
      • Using ros2_tracing to trace and analyze an application - tutorial
      • Logging
      • Configuring service introspection - tutorial
      • Examining network traffic - tutorial
    • Node management
      • Using ROS launch to launch composable nodes - how to
      • Creating a launch file - tutorial
      • Working with launch files - tutorial
        • Creating a launch file - tutorial
        • Integrating launch files into ROS 2 packages - tutorial
        • Using substitutions - tutorial
        • Using event handlers - tutorial
        • Managing large projects - tutorial
      • Using event handlers - tutorial
      • Managing large projects - tutorial
      • Using substitutions - tutorial
      • Using XML, YAML, and Python for ROS Launch Files - how-to
      • Integrating launch files into ROS 2 packages - tutorial
      • Unlocking the potential of Fast DDS middleware [community-contributed] - tutorial
      • Using Improved Dynamic Discovery - tutorial
      • Passing ROS arguments to nodes via the command-line - how-to
      • Using Fast DDS Discovery Server as discovery protocol [community-contributed] - tutorial
      • ROS 2 Security
        • Setting up security - tutorial
        • Ensuring security across machines - tutorial
        • Setting access controls - tutorial
    • Debugging
      • Debugging - tutorial
      • Debugging with IDEs [community-contributed] - how-to
      • Getting Backtraces in ROS 2 - how-to
      • Building ROS 2 with tracing - how-to
      • Testing - tutorial
        • Running Tests in ROS 2 from the Command Line - how-to
        • Writing Basic Tests with C++ with GTest - tutorial
        • Writing Basic Tests with Python - tutorial
        • Writing Basic Integration Tests with launch_testing - tutorial
        • Testing Your Code with the ROS Build Farm - tutorial
        • rosbag2: Overriding Quality of Service (QoS) Policies - how-to
        • Testing with pre-release binaries
    • Builds
      • Cross-compilation
      • The build system
      • Understanding security-enabled deployments - tutorial
      • Understanding the security keystore - tutorial
      • Using Xacro to clean up your code - tutorial
      • Supplementing custom rosdep keys - tutorial
      • Using ament Lint CLI Utilities - tutorial
      • Using Eclipse Oxygen with rviz2 [community-contributed] - tutorial
      • Building ROS packages with ament_cmake - how-to
      • Using ament_cmake_python - how-to
      • Building a custom deb package - how-to
      • Running ROS 2 nodes in Docker [community-contributed] - how-to
      • Setting up ROS with VSCode and Docker [community-contributed] - how-to
      • Maintaining ROS Core Packages - how-to
      • Addressing common DDS tuning issues - how-to
      • Using variants - how-to
      • Finding package documentation
      • Using Python Packages with ROS 2 - how-to
      • Developing a ROS package - tutorial
      • Releasing a Package
        • Indexing Your Packages - how-to
        • Releasing first-time packages - how-to
        • Releasing subsequent package versions - how to
        • Release Team / Repository - how-to
        • Creating release track prompts - how-to
      • Building a real-time Linux kernel [community-contributed] - tutorial
      • Building a package with Eclipse 2021-06 - tutorial
      • Implementing custom interfaces - how-to
    • Visualization
      • RViz
        • Using RViz - tutorial
        • Marker: Sending Basic Shapes (C++) - tutorial
        • Using Marker Points and Lines (C++) - tutorial
        • Using Marker Display Types - tutorial
        • Building a Custom RViz Display - tutorial
        • Building a Custom RViz Panel - tutorial
      • Overview and using RQt
      • Creating an rqt_bag Plugin - tutorial
    • Package documentation
      • Documenting a ROS 2 package - how-to
  • Capabilities
    • Simulation
      • URDF
        • Building a visual robot model from scratch — tutorial
        • Building a movable robot model — tutorial
        • Adding physical and collision properties — tutorial
        • Using URDF with robot_state_publisher (C++) — tutorial
        • Using URDF with robot_state_publisher (Python) — tutorial
        • Generating an URDF File — tutorial
      • Experimenting with a dummy robot — tutorial
    • Motion planning and manipulation
      • Understanding real-time programming — tutorial
    • Navigation
    • Perception
  • Integrations
    • Configuring simulators with ROS 2 - learning path
      • Configuring Webots with ROS 2 - tutorial
        • Installing Webots on Ubuntu - tutorial
        • Installing Webots on Windows - tutorial
        • Installing Webots on macOS - tutorial
        • Setting up a robot simulation (Basic) - tutorial
        • Setting up a robot simulation (Advanced) - tutorial
        • Setting up a Reset Handler - tutorial
        • Extending the interface with the Ros2Supervisor node - tutorial
      • Configuring Gazebo with ROS 2 - tutorial
        • Setting up a robot simulation (Gazebo) - tutorial
      • Configuring MVSim with ROS 2 - tutorial
        • Installing MVSim on Ubuntu - tutorial
        • Getting started with MVSim - tutorial
        • Defining worlds, robots, and sensors - tutorial
    • Deploying on IBM Cloud Kubernetes [community-contributed] - tutorial
    • Related projects
      • Intel ROS 2 Projects
      • NVIDIA ROS 2 Projects
      • Visualizing Data and Teleoperating with Phantom Bridge
      • Visualizing ROS 2 data with Foxglove
  • Migration and upgrades
    • Migrating from ROS 1 to ROS 2
      • Migrating Packages
      • Migrating your package.xml to format 2
      • Migrating Interfaces
      • Migrating a C++ Package Example
      • Migrating C++ Packages Reference
      • Migrating a Python Package Example
      • Migrating Python Packages Reference
      • Migrating Launch Files
      • Migrating Parameters
      • Migrating Scripts
    • Using ros1_bridge with upstream ROS on Ubuntu 22.04 - how-to
    • Using a custom rosdistro version - how-to
  • Community
    • Contributing
      • Contributing to code
        • Source control best practices
        • ROS build farms
        • Code style and language versions
        • Code quality guidelines
        • Working with Windows - how to
      • Contributing to documentation
        • Creating or updating documentation — how-to
        • Documentation guidelines
      • Reviewing a pull request (PR) — how-to
      • Making a pull request (PR) — how-to
      • Triaging an issue — how-to
      • Reporting an issue — how-to
    • Features status
    • Feature ideas
    • Roadmap
    • ROSCon talks
    • Project governance
    • Platform EOL policy
    • Platform support tiers
    • Release Schedule
    • Marketing
    • Metrics
    • ROS 2 adopters
      • Add Your Project
  • Contact
  • Citations
  • Contributing to ROS
ROS 2 documentation
  • Index
  • Edit on GitHub

Index

A | B | C | P | R | T | V

A

  • Acceptable backend list
  • ament CMake package
  • ament package
  • ament Python package
  • API

B

  • Buffer
  • Buffer backend
  • Buffer descriptor

C

  • client_library
  • CMake package

P

  • package
  • package.xml
  • Python package

R

  • rclcpp
  • REP
  • repository

T

  • Tensor message

V

  • VCS

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