ROS1ROS2

ROS1 ➡️ ROS2 code snippets

Small C++ / Python / launch / Cmake / command examples on the left side the ROS1 original on the right the ROS2 equivalents.

https://github.com/jkk-research/ros1ros2

C++ headers

ROS1

ROS2

#include "ros/ros.h" #include "std_msgs/String.h" #include "std_msgs/UInt8.h" #include "std_msgs/Float64.h" #include "nav_msgs/Odometry.h" #include "sensor_msgs/NavSatFix.h" #include "sensor_msgs/NavSatStatus.h" #include "sensor_msgs/Imu.h" #include "sensor_msgs/MagneticField.h" #include "sensor_msgs/TimeReference.h" #include "geometry_msgs/Vector3.h" #include "geometry_msgs/PoseStamped.h" #include "tf2/LinearMath/Quaternion.h"

#include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" #include "std_msgs/msg/u_int8.hpp" #include "std_msgs/msg/float64.hpp" #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/nav_sat_fix.hpp" #include "sensor_msgs/msg/nav_sat_status.hpp" #include "sensor_msgs/msg/imu.hpp" #include "sensor_msgs/msg/magnetic_field.hpp" #include "sensor_msgs/msg/time_reference.hpp" #include "geometry_msgs/msg/vector3.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "tf2/LinearMath/Quaternion.h"

C++ init, publish and common commands

ROS1	ROS2
ros::init(argc, argv, "duro_node"); ros::NodeHandle n; ROS_INFO("Starting GPS Duro); while (ros::ok()) {   sbp_process(&s, &socket_read);   ros::spinOnce(); } ros::Time::now(); mag_pub.publish(mag_msg);	rclcpp::init(argc, argv); node = rclcpp::Node::make_shared("duro_node"); RCLCPP_INFO(node->get_logger(), "Starting GPS Duro"); while (rclcpp::ok()) { sbp_process(&sbp_state, &socket_read); rclcpp::spin_some(node); } node->now(); mag_pub->publish(mag_msg);

Launch

ROS1

ROS2

<!-- orientation_source can be gps / odom gps: orientation from the default gps modules odom: orientation from previous positions --> <!-- z_coord_ref_switch can be zero / zero_based / orig zero: the Z coordinate is always 0 zero_based: Z coordinate starts from orig: the original Z provided by Duro / Piksi --> <!-- euler_based_orientation true: euler based, not enabled by default false: quaternion based, not enabled by default --> <launch> <node pkg="duro_gps_driver" exec="duro_node" name="duro_gps_driver" output="screen"> <param name="ip_address" value="192.168.1.222"/> <param name="port" value="55555"/> <param name="gps_receiver_frame" value="duro"/> <param name="imu_frame" value="duro"/> <param name="utm_frame" value="map"/> <param name="orientation_source" value="gps"/> <param name="z_coord_ref_switch" value="zero_based"/> <param name="euler_based_orientation" value="true" /> </node> </launch>

from launch import LaunchDescription from launch_ros.actions import Node """ orientation_source can be gps / odom - gps: orientation provided from the default gps modules - odom: orientation counted from previous positions z_coord_ref_switch can be zero / exact / zero_based / orig - zero: the Z coordinate is always 0 - exact: the Z coorindinate is always z_coord_exact_height - zero_based: Z coordinate starts from 0 and relative - orig: the original Z provided by Duro / Piksi euler_based_orientation: - true: euler based, not enabled by default - false: quaternion based, not enabled by default """ def generate_launch_description(): ld = LaunchDescription() duro_node = Node( package="duro_gps_driver", executable="duro_node", parameters=[ {"ip_address": "192.168.1.222"}, {"port": 55555}, {"gps_receiver_frame_id": "duro"}, {"imu_frame_id": "duro"}, {"utm_frame_id": "map"}, {"orientation_source": "gps"}, {"z_coord_ref_switch": "zero"}, {"z_coord_exact_height": 0.2}, {"euler_based_orientation": True} ] ) ld.add_action(duro_node) return ld

Commands

ROS1	ROS2
catkin build duro_ros roslaunch duro_ros duro_example.launch	colcon build --packages-select duro_gps_driver ros2 launch duro_gps_driver duro_example.launch.py ros2 launch duro_gps_driver duro_example.launch.xml

C++ rosparam

ROS1

ROS2

n_private.param<std::string> ("ip_address", tcp_ip_addr, "192.168.0.222"); n_private.param<int>("port", tcp_ip_port, 55555); n_private.param<std::string>("gps_receiver_frame_id", gps_receiver_frame_id, "duro_link"); n_private.param<std::string>("imu_frame_id", imu_frame_id, gps_receiver_frame_id); n_private.param<std::string>("utm_frame_id", utm_frame_id, "utm"); n_private.param<std::string>("z_coord_ref_switch", z_coord_ref_switch, "zero"); n_private.param<std::string>("orientation_source", orientation_source, "gps"); n_private.param<bool>("euler_based_orientation", euler_based_orientation, true);

node->declare_parameter<std::string> ("ip_address", "192.168.0.222"); node->declare_parameter<int>("port", 55555); node->declare_parameter<std::string> ("gps_receiver_frame", "duro"); node->declare_parameter<std::string>("imu_frame","duro"); node->declare_parameter<std::string> ("utm_frame", "map"); node->declare_parameter<std::string> ("orientation_source", "gps"); node->declare_parameter<std::string> ("z_coord_ref_switch", "orig"); node->declare_parameter<bool> ("euler_based_orientation", true); node->get_parameter("ip_address", tcp_ip_addr); node->get_parameter("port", tcp_ip_port); node->get_parameter("gps_receiver_frame", gps_receiver_frame); node->get_parameter("imu_frame", imu_frame); node->get_parameter("utm_frame", utm_frame); node->get_parameter("orientation_source", orientation_source); node->get_parameter("z_coord_ref_switch", z_coord_ref_switch); node->get_parameter("euler_based_orientation", euler_based_orientation);

Cmake

ROS1

ROS2

cmake_minimum_required(VERSION 2.8.3) project(duro_ros) ## Compile as C++11, supported in ROS Kinetic and newer add_compile_options(-std=c++11 -O2) #add_compile_options(-std=c++17 -O2) find_package(catkin REQUIRED COMPONENTS nav_msgs roscpp std_msgs tf2 tf2_msgs tf2_ros tf2_geometry_msgs #PkgConfig ) catkin_package( INCLUDE_DIRS include ) include_directories( include ${catkin_INCLUDE_DIRS} "/usr/local/include/" ) link_directories("/usr/local/lib/") add_executable(duronode src/duro.cpp src/utm.cpp src/fake_orientation.cpp) target_link_libraries(duronode sbp ${catkin_LIBRARIES}) ## Install install(TARGETS duronode RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) #set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

cmake_minimum_required(VERSION 3.5) project(duro_gps_driver) # Default to C++17 set(CMAKE_CXX_STANDARD 17) # add_compile_options(-std=c++17 -O2) find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) find_package(nav_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_msgs REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) include_directories( include "/usr/local/include" ) set(ament_dependencies rclcpp sensor_msgs std_msgs nav_msgs tf2 tf2_msgs tf2_ros tf2_geometry_msgs ) link_directories("/usr/local/lib/") include_directories("/usr/local/include/") add_executable(duro_node src/duro_node.cpp src/utm.cpp src/fake_orientation.cpp) ament_target_dependencies(duro_node ${ament_dependencies}) target_link_libraries(duro_node sbp) ## Install ## Mark executables and/or libraries for installation install(TARGETS duro_node RUNTIME DESTINATION lib/${PROJECT_NAME} ) ## Mark cpp header files for installation install(DIRECTORY include/${PROJECT_NAME} DESTINATION include/${PROJECT_NAME} ) ## Mark launch files for installation install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} ) ament_package()

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ros-humble-acado-vendor-dbgsym
ros-humble-ackermann-msgs
ros-humble-ackermann-msgs-dbgsym
ros-humble-ackermann-steering-controller
ros-humble-ackermann-steering-controller-dbgsym
ros-humble-actionlib-msgs
ros-humble-actionlib-msgs-dbgsym
ros-humble-action-msgs
ros-humble-action-msgs-dbgsym
ros-humble-action-tutorials-cpp
ros-humble-action-tutorials-cpp-dbgsym
ros-humble-action-tutorials-interfaces
ros-humble-action-tutorials-interfaces-dbgsym
ros-humble-action-tutorials-py
ros-humble-actuator-msgs
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ros-humble-adaptive-component
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ros-humble-admittance-controller
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ros-humble-aerostack2
ros-humble-affordance-primitives
ros-humble-affordance-primitives-dbgsym
ros-humble-ament-acceleration
ros-humble-ament-black
ros-humble-ament-clang-format
ros-humble-ament-clang-tidy
ros-humble-ament-cmake
ros-humble-ament-cmake-auto
ros-humble-ament-cmake-black
ros-humble-ament-cmake-catch2
ros-humble-ament-cmake-clang-format
ros-humble-ament-cmake-clang-tidy
ros-humble-ament-cmake-copyright
ros-humble-ament-cmake-core
ros-humble-ament-cmake-cppcheck
ros-humble-ament-cmake-cpplint
ros-humble-ament-cmake-export-definitions
ros-humble-ament-cmake-export-dependencies
ros-humble-ament-cmake-export-include-directories
ros-humble-ament-cmake-export-interfaces
ros-humble-ament-cmake-export-libraries
ros-humble-ament-cmake-export-link-flags
ros-humble-ament-cmake-export-targets
ros-humble-ament-cmake-flake8
ros-humble-ament-cmake-gen-version-h
ros-humble-ament-cmake-gmock
ros-humble-ament-cmake-google-benchmark
ros-humble-ament-cmake-gtest
ros-humble-ament-cmake-include-directories
ros-humble-ament-cmake-libraries
ros-humble-ament-cmake-lint-cmake
ros-humble-ament-cmake-mypy
ros-humble-ament-cmake-nose
ros-humble-ament-cmake-pclint
ros-humble-ament-cmake-pep257
ros-humble-ament-cmake-pycodestyle
ros-humble-ament-cmake-pyflakes
ros-humble-ament-cmake-pytest
ros-humble-ament-cmake-python
ros-humble-ament-cmake-ros
ros-humble-ament-cmake-target-dependencies
ros-humble-ament-cmake-test
ros-humble-ament-cmake-uncrustify
ros-humble-ament-cmake-vendor-package
ros-humble-ament-cmake-version
ros-humble-ament-cmake-xmllint
ros-humble-ament-copyright
ros-humble-ament-cppcheck
ros-humble-ament-cpplint
ros-humble-ament-download
ros-humble-ament-flake8
ros-humble-ament-index-cpp
ros-humble-ament-index-cpp-dbgsym
ros-humble-ament-index-python
ros-humble-ament-lint
ros-humble-ament-lint-auto
ros-humble-ament-lint-cmake
ros-humble-ament-lint-common
ros-humble-ament-mypy
ros-humble-ament-nodl
ros-humble-ament-package
ros-humble-ament-pclint
ros-humble-ament-pep257
ros-humble-ament-pycodestyle
ros-humble-ament-pyflakes
ros-humble-ament-uncrustify
ros-humble-ament-vitis
ros-humble-ament-xmllint
ros-humble-angles
ros-humble-apex-test-tools
ros-humble-apriltag
ros-humble-apriltag-dbgsym
ros-humble-apriltag-msgs
ros-humble-apriltag-msgs-dbgsym
ros-humble-apriltag-ros
ros-humble-apriltag-ros-dbgsym
ros-humble-aruco
ros-humble-aruco-dbgsym
ros-humble-aruco-msgs
ros-humble-aruco-msgs-dbgsym
ros-humble-aruco-opencv
ros-humble-aruco-opencv-dbgsym
ros-humble-aruco-opencv-msgs
ros-humble-aruco-opencv-msgs-dbgsym
ros-humble-aruco-ros
ros-humble-aruco-ros-dbgsym
ros-humble-as2-alphanumeric-viewer
ros-humble-as2-alphanumeric-viewer-dbgsym
ros-humble-as2-behavior
ros-humble-as2-behavior-dbgsym
ros-humble-as2-behaviors-motion
ros-humble-as2-behaviors-motion-dbgsym
ros-humble-as2-behaviors-perception
ros-humble-as2-behaviors-perception-dbgsym
ros-humble-as2-behaviors-platform
ros-humble-as2-behaviors-platform-dbgsym
ros-humble-as2-behaviors-trajectory-generation
ros-humble-as2-behaviors-trajectory-generation-dbgsym
ros-humble-as2-behavior-tree
ros-humble-as2-behavior-tree-dbgsym
ros-humble-as2-cli
ros-humble-as2-core
ros-humble-as2-gazebo-classic-assets
ros-humble-as2-ign-gazebo-assets
ros-humble-as2-ign-gazebo-assets-dbgsym
ros-humble-as2-keyboard-teleoperation
ros-humble-as2-motion-controller
ros-humble-as2-motion-controller-dbgsym
ros-humble-as2-motion-reference-handlers
ros-humble-as2-msgs
ros-humble-as2-msgs-dbgsym
ros-humble-as2-platform-crazyflie
ros-humble-as2-platform-crazyflie-dbgsym
ros-humble-as2-platform-ign-gazebo
ros-humble-as2-platform-ign-gazebo-dbgsym
ros-humble-as2-platform-tello
ros-humble-as2-platform-tello-dbgsym
ros-humble-as2-python-api
ros-humble-as2-realsense-interface
ros-humble-as2-realsense-interface-dbgsym
ros-humble-as2-state-estimator
ros-humble-as2-state-estimator-dbgsym
ros-humble-as2-usb-camera-interface
ros-humble-as2-usb-camera-interface-dbgsym
ros-humble-asio-cmake-module
ros-humble-async-web-server-cpp
ros-humble-async-web-server-cpp-dbgsym
ros-humble-automotive-autonomy-msgs
ros-humble-automotive-navigation-msgs
ros-humble-automotive-navigation-msgs-dbgsym
ros-humble-automotive-platform-msgs
ros-humble-automotive-platform-msgs-dbgsym
ros-humble-autoware-auto-msgs
ros-humble-autoware-auto-msgs-dbgsym
ros-humble-avt-vimba-camera
ros-humble-avt-vimba-camera-dbgsym
ros-humble-aws-robomaker-small-warehouse-world
ros-humble-aws-sdk-cpp-vendor
ros-humble-aws-sdk-cpp-vendor-dbgsym
ros-humble-backward-ros
ros-humble-backward-ros-dbgsym
ros-humble-bag2-to-image
ros-humble-bag2-to-image-dbgsym
ros-humble-base2d-kinematics
ros-humble-base2d-kinematics-dbgsym
ros-humble-base2d-kinematics-msgs
ros-humble-base2d-kinematics-msgs-dbgsym
ros-humble-behaviortree-cpp
ros-humble-behaviortree-cpp-dbgsym
ros-humble-behaviortree-cpp-v3
ros-humble-behaviortree-cpp-v3-dbgsym
ros-humble-bicycle-steering-controller
ros-humble-bicycle-steering-controller-dbgsym
ros-humble-bno055
ros-humble-bond
ros-humble-bond-core
ros-humble-bondcpp
ros-humble-bondcpp-dbgsym
ros-humble-bond-dbgsym
ros-humble-boost-geometry-util
ros-humble-boost-geometry-util-dbgsym
ros-humble-boost-plugin-loader
ros-humble-boost-plugin-loader-dbgsym
ros-humble-builtin-interfaces
ros-humble-builtin-interfaces-dbgsym
ros-humble-camera-calibration
ros-humble-camera-calibration-parsers
ros-humble-camera-calibration-parsers-dbgsym
ros-humble-camera-info-manager
ros-humble-camera-info-manager-dbgsym
ros-humble-camera-ros
ros-humble-camera-ros-dbgsym
ros-humble-can-msgs
ros-humble-can-msgs-dbgsym
ros-humble-cartographer
ros-humble-cartographer-dbgsym
ros-humble-cartographer-ros
ros-humble-cartographer-ros-dbgsym
ros-humble-cartographer-ros-msgs
ros-humble-cartographer-ros-msgs-dbgsym
ros-humble-cartographer-rviz
ros-humble-cartographer-rviz-dbgsym
ros-humble-cascade-lifecycle-msgs
ros-humble-cascade-lifecycle-msgs-dbgsym
ros-humble-catch-ros2
ros-humble-catch-ros2-dbgsym
ros-humble-chomp-motion-planner
ros-humble-chomp-motion-planner-dbgsym
ros-humble-classic-bags
ros-humble-class-loader
ros-humble-class-loader-dbgsym
ros-humble-clearpath-common
ros-humble-clearpath-config
ros-humble-clearpath-config-live
ros-humble-clearpath-control
ros-humble-clearpath-description
ros-humble-clearpath-desktop
ros-humble-clearpath-generator-common
ros-humble-clearpath-generator-gz
ros-humble-clearpath-gz
ros-humble-clearpath-mounts-description
ros-humble-clearpath-msgs
ros-humble-clearpath-nav2-demos
ros-humble-clearpath-platform
ros-humble-clearpath-platform-dbgsym
ros-humble-clearpath-platform-description
ros-humble-clearpath-platform-msgs
ros-humble-clearpath-platform-msgs-dbgsym
ros-humble-clearpath-sensors-description
ros-humble-clearpath-simulator
ros-humble-clearpath-viz
ros-humble-collision-log-msgs
ros-humble-collision-log-msgs-dbgsym
ros-humble-color-names
ros-humble-color-names-dbgsym
ros-humble-color-util
ros-humble-common-interfaces
ros-humble-composition
ros-humble-composition-dbgsym
ros-humble-composition-interfaces
ros-humble-composition-interfaces-dbgsym
ros-humble-compressed-depth-image-transport
ros-humble-compressed-depth-image-transport-dbgsym
ros-humble-compressed-image-transport
ros-humble-compressed-image-transport-dbgsym
ros-humble-console-bridge-vendor
ros-humble-controller-interface
ros-humble-controller-interface-dbgsym
ros-humble-controller-manager
ros-humble-controller-manager-dbgsym
ros-humble-controller-manager-msgs
ros-humble-controller-manager-msgs-dbgsym
ros-humble-control-msgs
ros-humble-control-msgs-dbgsym
ros-humble-control-toolbox
ros-humble-control-toolbox-dbgsym
ros-humble-costmap-queue
ros-humble-crane-plus
ros-humble-crane-plus-control
ros-humble-crane-plus-control-dbgsym
ros-humble-crane-plus-description
ros-humble-crane-plus-examples
ros-humble-crane-plus-examples-dbgsym
ros-humble-crane-plus-gazebo
ros-humble-crane-plus-moveit-config
ros-humble-create-bringup
ros-humble-create-description
ros-humble-create-driver
ros-humble-create-driver-dbgsym
ros-humble-create-msgs
ros-humble-create-msgs-dbgsym
ros-humble-create-robot
ros-humble-cudnn-cmake-module
ros-humble-cv-bridge
ros-humble-cv-bridge-dbgsym
ros-humble-cyclonedds
ros-humble-cyclonedds-dbgsym
ros-humble-dataspeed-can
ros-humble-dataspeed-can-msg-filters
ros-humble-dataspeed-can-usb
ros-humble-dataspeed-can-usb-dbgsym
ros-humble-dataspeed-dbw-common
ros-humble-dataspeed-dbw-gateway
ros-humble-dataspeed-dbw-gateway-dbgsym
ros-humble-dataspeed-dbw-msgs
ros-humble-dataspeed-dbw-msgs-dbgsym
ros-humble-dataspeed-ulc
ros-humble-dataspeed-ulc-can
ros-humble-dataspeed-ulc-can-dbgsym
ros-humble-dataspeed-ulc-msgs
ros-humble-dataspeed-ulc-msgs-dbgsym
ros-humble-dbw-fca
ros-humble-dbw-fca-can
ros-humble-dbw-fca-can-dbgsym
ros-humble-dbw-fca-description
ros-humble-dbw-fca-joystick-demo
ros-humble-dbw-fca-joystick-demo-dbgsym
ros-humble-dbw-fca-msgs
ros-humble-dbw-fca-msgs-dbgsym
ros-humble-dbw-ford
ros-humble-dbw-ford-can
ros-humble-dbw-ford-can-dbgsym
ros-humble-dbw-ford-description
ros-humble-dbw-ford-joystick-demo
ros-humble-dbw-ford-joystick-demo-dbgsym
ros-humble-dbw-ford-msgs
ros-humble-dbw-ford-msgs-dbgsym
ros-humble-dbw-polaris
ros-humble-dbw-polaris-can
ros-humble-dbw-polaris-can-dbgsym
ros-humble-dbw-polaris-description
ros-humble-dbw-polaris-joystick-demo
ros-humble-dbw-polaris-joystick-demo-dbgsym
ros-humble-dbw-polaris-msgs
ros-humble-dbw-polaris-msgs-dbgsym
ros-humble-delphi-esr
ros-humble-delphi-esr-msgs
ros-humble-delphi-esr-msgs-dbgsym
ros-humble-delphi-mrr-msgs
ros-humble-delphi-mrr-msgs-dbgsym
ros-humble-delphi-srr-msgs
ros-humble-delphi-srr-msgs-dbgsym
ros-humble-demo-nodes-cpp
ros-humble-demo-nodes-cpp-dbgsym
ros-humble-demo-nodes-cpp-native
ros-humble-demo-nodes-cpp-native-dbgsym
ros-humble-demo-nodes-py
ros-humble-depthai
ros-humble-depthai-bridge
ros-humble-depthai-bridge-dbgsym
ros-humble-depthai-dbgsym
ros-humble-depthai-descriptions
ros-humble-depthai-examples
ros-humble-depthai-examples-dbgsym
ros-humble-depthai-filters
ros-humble-depthai-filters-dbgsym
ros-humble-depthai-ros
ros-humble-depthai-ros-driver
ros-humble-depthai-ros-driver-dbgsym
ros-humble-depthai-ros-msgs
ros-humble-depthai-ros-msgs-dbgsym
ros-humble-depth-image-proc
ros-humble-depth-image-proc-dbgsym
ros-humble-depthimage-to-laserscan
ros-humble-depthimage-to-laserscan-dbgsym
ros-humble-derived-object-msgs
ros-humble-derived-object-msgs-dbgsym
ros-humble-desktop
ros-humble-desktop-full
ros-humble-diagnostic-aggregator
ros-humble-diagnostic-aggregator-dbgsym
ros-humble-diagnostic-common-diagnostics
ros-humble-diagnostic-msgs
ros-humble-diagnostic-msgs-dbgsym
ros-humble-diagnostics
ros-humble-diagnostic-updater
ros-humble-diagnostic-updater-dbgsym
ros-humble-diff-drive-controller
ros-humble-diff-drive-controller-dbgsym
ros-humble-dolly
ros-humble-dolly-follow
ros-humble-dolly-follow-dbgsym
ros-humble-dolly-gazebo
ros-humble-dolly-ignition
ros-humble-domain-bridge
ros-humble-domain-bridge-dbgsym
ros-humble-domain-coordinator
ros-humble-draco-point-cloud-transport
ros-humble-draco-point-cloud-transport-dbgsym
ros-humble-dummy-map-server
ros-humble-dummy-map-server-dbgsym
ros-humble-dummy-robot-bringup
ros-humble-dummy-sensors
ros-humble-dummy-sensors-dbgsym
ros-humble-dwb-core
ros-humble-dwb-core-dbgsym
ros-humble-dwb-critics
ros-humble-dwb-critics-dbgsym
ros-humble-dwb-msgs
ros-humble-dwb-msgs-dbgsym
ros-humble-dwb-plugins
ros-humble-dwb-plugins-dbgsym
ros-humble-dynamic-edt-3d
ros-humble-dynamic-edt-3d-dbgsym
ros-humble-dynamixel-sdk
ros-humble-dynamixel-sdk-custom-interfaces
ros-humble-dynamixel-sdk-custom-interfaces-dbgsym
ros-humble-dynamixel-sdk-dbgsym
ros-humble-dynamixel-sdk-examples
ros-humble-dynamixel-sdk-examples-dbgsym
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ros-humble-velodyne-simulator
ros-humble-vision-msgs
ros-humble-vision-msgs-dbgsym
ros-humble-vision-msgs-layers
ros-humble-vision-msgs-layers-dbgsym
ros-humble-vision-msgs-rviz-plugins
ros-humble-vision-msgs-rviz-plugins-dbgsym
ros-humble-vision-opencv
ros-humble-visp
ros-humble-visp-dbgsym
ros-humble-visualization-msgs
ros-humble-visualization-msgs-dbgsym
ros-humble-vitis-common
ros-humble-vrpn
ros-humble-vrpn-mocap
ros-humble-vrpn-mocap-dbgsym
ros-humble-wall-follower-ros2
ros-humble-wall-follower-ros2-dbgsym
ros-humble-warehouse-ros
ros-humble-warehouse-ros-dbgsym
ros-humble-warehouse-ros-sqlite
ros-humble-warehouse-ros-sqlite-dbgsym
ros-humble-webots-ros2
ros-humble-webots-ros2-control
ros-humble-webots-ros2-control-dbgsym
ros-humble-webots-ros2-driver
ros-humble-webots-ros2-driver-dbgsym
ros-humble-webots-ros2-epuck
ros-humble-webots-ros2-importer
ros-humble-webots-ros2-mavic
ros-humble-webots-ros2-msgs
ros-humble-webots-ros2-msgs-dbgsym
ros-humble-webots-ros2-tesla
ros-humble-webots-ros2-tests
ros-humble-webots-ros2-tiago
ros-humble-webots-ros2-turtlebot
ros-humble-webots-ros2-universal-robot
ros-humble-weight-scale-interfaces
ros-humble-weight-scale-interfaces-dbgsym
ros-humble-wiimote
ros-humble-wiimote-dbgsym
ros-humble-wiimote-msgs
ros-humble-wiimote-msgs-dbgsym
ros-humble-wireless-msgs
ros-humble-wireless-msgs-dbgsym
ros-humble-wireless-watcher
ros-humble-xacro
ros-humble-yaml-cpp-vendor
ros-humble-zbar-ros
ros-humble-zbar-ros-dbgsym
ros-humble-zenoh-bridge-dds
ros-humble-zenoh-bridge-dds-dbgsym
ros-humble-zlib-point-cloud-transport
ros-humble-zlib-point-cloud-transport-dbgsym
ros-humble-zmqpp-vendor
ros-humble-zmqpp-vendor-dbgsym
ros-humble-zstd-point-cloud-transport
ros-humble-zstd-point-cloud-transport-dbgsym
ros-humble-zstd-vendor
ros-humble-zstd-vendor-dbgsym