  * [ setup-ros ](https://github.com/ros-tooling/setup-ros) \- This action sets up a ROS and ROS 2 environment for use in GitHub actions.
  * [ UnitTesting ](https://wiki.ros.org/Quality/Tutorials/UnitTesting) \- This page lays out the rationale, best practices, and policies for writing and running unit tests and integration tests for ROS.
  * [ googletest ](https://github.com/google/googletest) \- Google's C++ test framework.
  * [ pytest ](https://github.com/pytest-dev/pytest/) \- The pytest framework makes it easy to write small tests, yet scales to support complex functional testing.
  * [ doctest ](https://github.com/onqtam/doctest) \- The fastest feature-rich C++11/14/17/20 single-header testing framework for unit tests and TDD.
  * [ osrf_testing_tools_cpp ](https://github.com/osrf/osrf_testing_tools_cpp) \- Contains testing tools for C++, and is used in OSRF projects.
  * [ code_coverage ](https://github.com/mikeferguson/code_coverage) \- ROS package to run coverage testing.
  * [ action-ros-ci ](https://github.com/ros-tooling/action-ros-ci) \- GitHub Action to build and test ROS 2 packages using colcon.


##  Folders and files


[ ![GitHub Copilot extension in the VS Code
Marketplace](/assets/docs/languages/cpp/copilot-extension.png)
](https://marketplace.visualstudio.com/items?itemName=GitHub.copilot)


![C++ TOC on code.visualstudio.com](/assets/docs/languages/cpp/cpp-toc.png)


[ .github/  workflows  ](/Ly0n/awesome-robotic-
tooling/tree/main/.github/workflows "This path skips through empty
directories")


> **Note** : There may already be a C++ compiler and debugger provided by your
> academic or work development environment. Check with your instructors or
> colleagues for guidance on installing the recommended C++ toolset (compiler,
> debugger, project system, linter).


Search or jump to...


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Name  |  Name  |


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###  Monitoring


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[ Go to the Clang tutorial ](/docs/cpp/config-clang-mac#_prerequisites)


###  Real-Time Kernel


###  Topics


  * [ ROS ](https://github.com/leggedrobotics/ros_best_practices/tree/master/ros_package_template) \- Template for ROS node standardization in C++.
  * [ Launch ](https://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20tips%20for%20larger%20projects) \- Templates on how to create launch files for larger projects.
  * [ Bash ](https://github.com/ralish/bash-script-template) \- A bash scripting template incorporating best practices & several useful functions.
  * [ URDF ](https://wiki.ros.org/urdf/Examples) \- Examples on how to create Unified Robot Description Format (URDF) for different kinds of robots.
  * [ Python ](http://wiki.ros.org/PyStyleGuide) \- Style guide to be followed in writing Python code for ROS.
  * [ Docker ](https://ade-cli.readthedocs.io/en/latest/create-custom-base-image.html) \- The Dockerfile in the minimal-ade project shows a minimal example of how to create a custom base image.
  * [ VS Code ROS2 Workspace Template ](https://github.com/athackst/vscode_ros2_workspace) \- Template for using VSCode as an IDE for ROS2 development.


](https://speechify.com/medium?source=post_page-----
14de44d58cc9--------------------------------)


Include my email address so I can be contacted


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  * Command line arguments (e.g -s option for system plugins).
  * Referenced inside .world file
  * Model is spawned within launch file


[ ![](https://github.com/Dronecode/dronecode-wordpress-
theme/raw/master/dronecode-salient-
child/images/dronecode_top_bar_logo_small.png) ](https://www.dronecode.org/)


[ mkdocs.yml ](/Ly0n/awesome-robotic-tooling/blob/main/mkdocs.yml
"mkdocs.yml")


Topics  Overview  Overview  Linux  macOS  Windows  Raspberry Pi  Network
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Manage Jupyter Kernels  Jupyter Notebooks on the web  Extensions  Deployment
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Service  Overview  SSH  Dev Containers  Windows Subsystem for Linux  GitHub
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Tricks  FAQ  Overview  Tutorial  Attach to Container  Create a Dev Container
Advanced Containers  devcontainer.json  Dev Container CLI  Tips and Tricks
FAQ


[ Visual Studio Code IDE (VSCode) | PX4 User Guide
](https://docs.px4.io/main/en/dev_setup/vscode.html#debugging) as seen here.
It does not seem to launch a Gazebo Window for me.


    * [ Actions  Automate any workflow  ](/features/actions)
    * [ Packages  Host and manage packages  ](/features/packages)
    * [ Security  Find and fix vulnerabilities  ](/features/security)
    * [ Codespaces  Instant dev environments  ](/features/codespaces)
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    * [ Discussions  Collaborate outside of code  ](/features/discussions)


Blog


[ QGC ](http://qgroundcontrol.com/)


You are only prompted to choose a compiler the first time you run `
helloworld.cpp ` . This compiler becomes "default" compiler set in your `
tasks.json ` file.


[ Report repository ](/contact/report-
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###  Graphical User Interface


#  **Scenario 2**


##  Use saved searches to filter your results more quickly


[ https://code.visualstudio.com/docs/editor/debugging
](https://code.visualstudio.com/docs/editor/debugging)


We read every piece of feedback, and take your input very seriously.


###  Command Line Interface


    #include <sys/stat.h>
    ...
    ...
    #if DEBUG_ON
    struct stat buffer;
    while (stat ("/tmp/go", &buffer) != 0) {
          sleep(1);  // sleep for 1 seconds.  can replace with usleep
    }
    #endif

    touch /tmp/go


                "type": "command",
                "command": "shellCommand.execute",
                "args": {
                  "command": "readlink /proc/$(pgrep gzserver)/exe",
                  "description": "Select your target PID",
                  "useFirstResult": true,
                }
              }
        ]
    }


[ ![Screenshot from 2022-11-21
20-19-27](https://discuss.px4.io/uploads/default/optimized/2X/2/2ddab06917a54a670c3962ea0b332375c859a3a2_2_690x376.png)
Screenshot from 2022-11-21 20-19-27  1462×797 132 KB
](https://discuss.px4.io/uploads/default/original/2X/2/2ddab06917a54a670c3962ea0b332375c859a3a2.png
"Screenshot from 2022-11-21 20-19-27")


##  Contents


Repositories


[ ](/?source=---two_column_layout_nav----------------------------------)


[ Support ](http://discuss.px4.io/)


  * [ CV-pretrained-model ](https://github.com/balavenkatesh3322/CV-pretrained-model) \- A collection of computer vision pre-trained models.
  * [ image_pipeline ](https://github.com/ros-perception/image_pipeline) \- Fills the gap between getting raw images from a camera driver and higher-level vision processing.
  * [ gstreamer ](https://gstreamer.freedesktop.org/) \- A pipeline-based multimedia framework that links together a wide variety of media processing systems to complete complex workflows.
  * [ ros2_openvino_toolkit ](https://github.com/intel/ros2_openvino_toolkit) \- Provides a ROS-adaptered runtime framework of neural network which quickly deploys applications and solutions for vision inference.
  * [ vision_visp ](https://github.com/lagadic/vision_visp) \- Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package.
  * [ apriltag_ros ](https://github.com/AprilRobotics/apriltag_ros) \- A ROS wrapper of the AprilTag 3 visual fiducial detector.
  * [ deep_object_pose ](https://github.com/NVlabs/Deep_Object_Pose) \- Deep Object Pose Estimation.
  * [ DetectAndTrack ](https://github.com/facebookresearch/DetectAndTrack) \- Detect-and-Track: Efficient Pose.
  * [ SfMLearner ](https://github.com/tinghuiz/SfMLearner) \- An unsupervised learning framework for depth and ego-motion estimation.
  * [ imgaug ](https://github.com/aleju/imgaug) \- Image augmentation for machine learning experiments.
  * [ vision_opencv ](https://github.com/ros-perception/vision_opencv) \- Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.
  * [ darknet_ros ](https://github.com/leggedrobotics/darknet_ros) \- YOLO ROS: Real-Time Object Detection for ROS.
  * [ ros_ncnn ](https://github.com/nilseuropa/ros_ncnn) \- YOLACT / YOLO _( among other things )_ on NCNN inference engine for ROS.
  * [ tf-pose-estimation ](https://github.com/ildoonet/tf-pose-estimation) \- Deep Pose Estimation implemented using Tensorflow with Custom Architectures for fast inference.
  * [ find-object ](https://github.com/introlab/find-object) \- Simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors.
  * [ yolact ](https://github.com/dbolya/yolact) \- A simple, fully convolutional model for real-time instance segmentation.
  * [ Kimera-Semantics ](https://github.com/MIT-SPARK/Kimera-Semantics) \- Real-Time 3D Semantic Reconstruction from 2D data.
  * [ detectron2 ](https://github.com/facebookresearch/detectron2) \- A next-generation research platform for object detection and segmentation.
  * [ OpenVX ](https://www.khronos.org/openvx/) \- Enables performance and power-optimized computer vision processing, especially important in embedded and real-time use cases.
  * [ 3d-vehicle-tracking ](https://github.com/ucbdrive/3d-vehicle-tracking) \- Official implementation of Joint Monocular 3D Vehicle Detection and Tracking.
  * [ pysot ](https://github.com/STVIR/pysot) \- The goal of PySOT is to provide a high-quality, high-performance codebase for visual tracking research.
  * [ semantic_slam ](https://github.com/floatlazer/semantic_slam) \- Real time semantic slam in ROS with a hand held RGB-D camera.
  * [ kitti_scan_unfolding ](https://github.com/ltriess/kitti_scan_unfolding) \- We propose KITTI scan unfolding in our paper Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study.
  * [ packnet-sfm ](https://github.com/TRI-ML/packnet-sfm) \- Official PyTorch implementation of self-supervised monocular depth estimation methods invented by the ML Team at Toyota Research Institute (TRI).
  * [ AB3DMOT ](https://github.com/xinshuoweng/AB3DMOT) \- This work proposes a simple yet accurate real-time baseline 3D multi-object tracking system.
  * [ monoloco ](https://github.com/vita-epfl/monoloco) \- Official implementation of "MonoLoco: Monocular 3D Pedestrian Localization and Uncertainty Estimation" in PyTorch.
  * [ Poly-YOLO ](https://gitlab.com/irafm-ai/poly-yolo) \- Builds on the original ideas of YOLOv3 and removes two of its weaknesses: a large amount of rewritten labels and inefficient distribution of anchors.
  * [ satellite-image-deep-learning ](https://github.com/robmarkcole/satellite-image-deep-learning) \- Resources for deep learning with satellite & aerial imagery.
  * [ robosat ](https://github.com/mapbox/robosat) \- Semantic segmentation on aerial and satellite imagery.
  * [ big_transfer ](https://github.com/google-research/big_transfer) \- Model for General Visual Representation Learning created by Google Research.
  * [ LEDNet ](https://github.com/xiaoyufenfei/LEDNet) \- A Lightweight Encoder-Decoder Network for Real-time Semantic Segmentation.
  * [ TorchSeg ](https://github.com/ycszen/TorchSeg) \- This project aims at providing a fast, modular reference implementation for semantic segmentation models using PyTorch.
  * [ simpledet ](https://github.com/tusimple/simpledet) \- A Simple and Versatile Framework for Object Detection and Instance Recognition.
  * [ meshroom ](https://github.com/alicevision/meshroom) \- Meshroom is a free, open-source 3D Reconstruction Software based on the AliceVision Photogrammetric Computer Vision framework.
  * [ EasyOCR ](https://github.com/JaidedAI/EasyOCR) \- Ready-to-use Optical character recognition (OCR) with 40+ languages supported including Chinese, Japanese, Korean and Thai.
  * [ pytracking ](https://github.com/visionml/pytracking) \- A general python framework for visual object tracking and video object segmentation, based on PyTorch.
  * [ ros_deep_learning ](https://github.com/dusty-nv/ros_deep_learning) \- Deep learning inference nodes for ROS with support for NVIDIA Jetson TX1/TX2/Xavier and TensorRT.
  * [ hyperpose ](https://github.com/tensorlayer/hyperpose) \- HyperPose: A Flexible Library for Real-time Human Pose Estimation.
  * [ fawkes ](https://github.com/Shawn-Shan/fawkes) \- Privacy preserving tool against facial recognition systems.
  * [ anonymizer ](https://github.com/understand-ai/anonymizer) \- An anonymizer to obfuscate faces and license plates.


Assumptions:


  * [ DLIB ](https://github.com/davisking/dlib) \- A toolkit for making real world machine learning and data analysis applications in C++.
  * [ fastai ](https://github.com/fastai/fastai) \- The fastai library simplifies training fast and accurate neural nets using modern best practices.
  * [ tpot ](https://github.com/EpistasisLab/tpot) \- A Python Automated Machine Learning tool that optimizes machine learning pipelines using genetic programming.
  * [ deap ](https://github.com/DEAP/deap) \- Distributed Evolutionary Algorithms in Python.
  * [ gym ](https://github.com/openai/gym) \- A toolkit for developing and comparing reinforcement learning algorithms.
  * [ tensorflow_ros_cpp ](https://github.com/tradr-project/tensorflow_ros_cpp) \- A ROS package that allows to do Tensorflow inference in C++ without the need to compile TF yourself.
  * [ Tensorflow Federated ](https://github.com/tensorflow/federated) \- TensorFlow Federated (TFF) is an open-source framework for machine learning and other computations on decentralized data.
  * [ finn ](https://github.com/Xilinx/finn) \- Fast, Scalable Quantized Neural Network Inference on FPGAs.
  * [ neuropod ](https://github.com/uber/neuropod) \- Neuropod is a library that provides a uniform interface to run deep learning models from multiple frameworks in C++ and Python.
  * [ leela-zero ](https://github.com/leela-zero/leela-zero) \- This is a fairly faithful reimplementation of the system described in the Alpha Go Zero paper "Mastering the Game of Go without Human Knowledge".
  * [ Trax ](https://github.com/google/trax) \- A library for deep learning that focuses on sequence models and reinforcement learning.
  * [ mlflow ](https://github.com/mlflow/mlflow) \- A platform to streamline machine learning development, including tracking experiments, packaging code into reproducible runs, and sharing and deploying models.
  * [ Netron ](https://github.com/lutzroeder/Netron) \- Visualizer for neural network, deep learning and machine learning models.
  * [ MNN ](https://github.com/alibaba/MNN) \- A blazing fast, lightweight deep learning framework, battle-tested by business-critical use cases in Alibaba.
  * [ Tensorforce ](https://github.com/tensorforce/tensorforce) \- An open-source deep reinforcement learning framework, with an emphasis on modularized flexible library design and straightforward usability for applications in research and practice.
  * [ Dopamine ](https://github.com/google/dopamine) \- A research framework for fast prototyping of reinforcement learning algorithms.
  * [ catalyst ](https://github.com/catalyst-team/catalyst) \- Was developed with a focus on reproducibility, fast experimentation and code/ideas reusing.
  * [ ray ](https://github.com/ray-project/ray) \- A fast and simple framework for building and running distributed applications.
  * [ tf-agents ](https://github.com/tensorflow/agents) \- A reliable, scalable and easy to use TensorFlow library for Contextual Bandits and Reinforcement Learning.
  * [ ReAgent ](https://github.com/facebookresearch/ReAgent) \- An open source end-to-end platform for applied reinforcement learning (RL) developed and used at Facebook.
  * [ Awesome-Mobile-Machine-Learning ](https://github.com/fritzlabs/Awesome-Mobile-Machine-Learning) \- A curated list of awesome mobile machine learning resources for iOS, Android, and edge devices.
  * [ cnn-explainer ](https://github.com/poloclub/cnn-explainer) \- Learning Convolutional Neural Networks with Interactive Visualization.
  * [ modelzoo ](https://github.com/autowarefoundation/modelzoo) \- A collection of machine-learned models for use in autonomous driving applications.
  * [ nnstreamer-ros ](https://github.com/nnstreamer/nnstreamer-ros) \- A set of Gstreamer plugins and ROS examples that allow Gstreamer developers to adopt neural network models easily and efficiently and neural network developers to manage neural network pipelines and their filters easily and efficiently.


    * [ Run and Debug ](/docs/csharp/debugging)
    * [ Testing ](/docs/csharp/testing)
    * [ FAQ ](/docs/csharp/cs-dev-kit-faq)
  * Docker
    * [ Overview ](/docs/containers/overview)
    * [ Node.js ](/docs/containers/quickstart-node)
    * [ Python ](/docs/containers/quickstart-python)
    * [ ASP.NET Core ](/docs/containers/quickstart-aspnet-core)
    * [ Debug ](/docs/containers/debug-common)
    * [ Docker Compose ](/docs/containers/docker-compose)
    * [ Registries ](/docs/containers/quickstart-container-registries)
    * [ Deploy to Azure ](/docs/containers/app-service)
    * [ Choose a dev environment ](/docs/containers/choosing-dev-environment)
    * [ Customize ](/docs/containers/reference)
    * [ Develop with Kubernetes ](/docs/containers/bridge-to-kubernetes)
    * [ Tips and Tricks ](/docs/containers/troubleshooting)
  * Data Science
    * [ Overview ](/docs/datascience/overview)
    * [ Jupyter Notebooks ](/docs/datascience/jupyter-notebooks)
    * [ Data Science Tutorial ](/docs/datascience/data-science-tutorial)
    * [ Python Interactive ](/docs/datascience/python-interactive)
    * [ Data Wrangler Quick Start ](/docs/datascience/data-wrangler-quick-start)
    * [ Data Wrangler ](/docs/datascience/data-wrangler)
    * [ PyTorch Support ](/docs/datascience/pytorch-support)
    * [ Azure Machine Learning ](/docs/datascience/azure-machine-learning)
    * [ Manage Jupyter Kernels ](/docs/datascience/jupyter-kernel-management)
    * [ Jupyter Notebooks on the web ](/docs/datascience/notebooks-web)
  * Azure
    * [ Extensions ](/docs/azure/extensions)
    * [ Deployment ](/docs/azure/deployment)
    * [ Remote Debugging for Node.js ](/docs/azure/remote-debugging)
    * [ Docker ](/docs/azure/docker)
    * [ MongoDB ](/docs/azure/mongodb)
    * [ Kubernetes ](/docs/azure/kubernetes)
    * [ Azure Kubernetes Service ](/docs/azure/aksextensions)
  * Remote
    * [ Overview ](/docs/remote/remote-overview)
    * [ SSH ](/docs/remote/ssh)
    * [ Dev Containers ](/docs/remote/dev-containers)
    * [ Windows Subsystem for Linux ](/docs/remote/wsl)


###  Unit and Integration Test


  * [ awesome CAN ](https://github.com/iDoka/awesome-canbus) \- A curated list of awesome CAN bus tools, hardware and resources.
  * [ AndrOBD ](https://github.com/fr3ts0n/AndrOBD) \- Android OBD diagnostics with any ELM327 adapter.
  * [ ddt4all ](https://github.com/cedricp/ddt4all) \- DDT4All is a tool to create your own ECU parameters screens and connect to a CAN network with a cheap ELM327 interface.
  * [ cabana ](https://github.com/commaai/cabana) \- CAN visualizer and DBC maker.
  * [ opendbc ](https://github.com/commaai/opendbc) \- The project to democratize access to the decoder ring of your car.
  * [ libuavcan ](https://github.com/UAVCAN/libuavcan) \- An open lightweight protocol designed for reliable communication in aerospace and robotic applications over robust vehicular networks such as CAN bus.
  * [ python-can ](https://github.com/hardbyte/python-can) \- The can package provides controller area network support for Python developers.
  * [ CANopenNode ](https://github.com/CANopenNode/CANopenNode) \- The internationally standardized (EN 50325-4) (CiA301) CAN-based higher-layer protocol for embedded control system.
  * [ python-udsoncan ](https://github.com/pylessard/python-udsoncan) \- Python implementation of UDS (ISO-14229) standard.
  * [ uds-c ](https://github.com/openxc/uds-c) \- Unified Diagnostics Service (UDS) and OBD-II (On Board Diagnostics for Vehicles) C Library.
  * [ cantools ](https://github.com/eerimoq/cantools) \- CAN BUS tools in Python 3.
  * [ CANdevStudio ](https://github.com/GENIVI/CANdevStudio) \- CANdevStudio aims to be cost-effective replacement for CAN simulation software. It can work with variety of CAN hardware interfaces.
  * [ can-utils ](https://github.com/linux-can/can-utils) \- Linux-CAN / SocketCAN user space applications.
  * [ ros_canopen ](https://github.com/ros-industrial/ros_canopen) \- CANopen driver framework for ROS.
  * [ decanstructor ](https://github.com/JWhitleyAStuff/decanstructor) \- The definitive ROS CAN analysis tool.
  * [ kvaser_interface ](https://github.com/astuff/kvaser_interface) \- This package was developed as a standardized way to access Kvaser CAN devices from ROS.
  * [ canmatrix ](https://github.com/ebroecker/canmatrix) \- Converting CAN Database Formats .arxml .dbc .dbf .kcd.
  * [ autosar ](https://github.com/cogu/autosar) \- A set of python modules for working with AUTOSAR XML files.
  * [ canopen ](https://github.com/christiansandberg/canopen) \- A Python implementation of the CANopen standard. The aim of the project is to support the most common parts of the CiA 301 standard in a Pythonic interface.
  * [ SavvyCAN ](https://github.com/collin80/SavvyCAN) \- A Qt5 based cross platform tool which can be used to load, save, and capture canbus frames.
  * [ Open-Vehicle-Monitoring-System-3 ](https://github.com/openvehicles/Open-Vehicle-Monitoring-System-3) \- The system provides live monitoring of vehicle metrics like state of charge, temperatures, tyre pressures and diagnostic fault conditions.


ros2 launch gazebo_ros gzserver.launch.py gdb:=true


[ https://classic.gazebosim.org/tutorials?tut=architecture&cat=get_started
](https://classic.gazebosim.org/tutorials?tut=architecture&cat=get_started)


    #include <iostream>

    int main()
    {
        std::cout << "Hello World" << std::endl;
    }


**launch.json file**


VS Code and the C++ extension support [ Remote Development
](/docs/remote/remote-overview) allowing you to work over SSH on a remote
machine or VM, inside a Docker container, or in the [ Windows Subsystem for
Linux ](https://learn.microsoft.com/windows/wsl) (WSL).


Get started with C++ and VS Code with tutorials for your environment:


[ Docs ](https://www.dronecode.org/documentation/)


This commit does not belong to any branch on this repository, and may belong
to a fork outside of the repository.


* Open Source


[ ![Allison Thackston](https://avatars.githubusercontent.com/u/6098197?v=4)
](/)


  * [ OverlapNet ](https://github.com/PRBonn/OverlapNet) \- A modified Siamese Network that predicts the overlap and relative yaw angle of a pair of range images generated by 3D LiDAR scans.
  * [ mp2p_icp ](https://github.com/MOLAorg/mp2p_icp) \- A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++.
  * [ OpenPCDet ](https://github.com/open-mmlab/OpenPCDet) \- A Toolbox for LiDAR-based 3D Object Detection.
  * [ torch-points3d ](https://github.com/nicolas-chaulet/torch-points3d) \- Pytorch framework for doing deep learning on point clouds.
  * [ PolyFit ](https://github.com/LiangliangNan/PolyFit) \- Polygonal Surface Reconstruction from Point Clouds.
  * [ mmdetection3d ](https://github.com/open-mmlab/mmdetection3d) \- Next-generation platform for general 3D object detection.
  * [ gpd ](https://github.com/atenpas/gpd) \- Takes a point cloud as input and produces pose estimates of viable grasps as output.
  * [ SalsaNext ](https://github.com/TiagoCortinhal/SalsaNext) \- Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving.
  * [ Super-Fast-Accurate-3D-Object-Detection ](https://github.com/maudzung/Super-Fast-Accurate-3D-Object-Detection) \- Super Fast and Accurate 3D Object Detection based on 3D LiDAR Point Clouds (The PyTorch implementation).
  * [ kaolin ](https://github.com/NVIDIAGameWorks/kaolin) \- A PyTorch Library for Accelerating 3D Deep Learning Research.
  * [ CamVox ](https://github.com/ISEE-Technology/CamVox) \- A low-cost SLAM system based on camera and Livox lidar.
  * [ SA-SSD ](https://github.com/skyhehe123/SA-SSD) \- Structure Aware Single-stage 3D Object Detection from Point Cloud.
  * [ cuda-pcl ](https://github.com/NVIDIA-AI-IOT/cuda-pcl) \- Accelerating Lidar for Robotics with NVIDIA CUDA-based PCL.
  * [ urban_road_filter ](https://github.com/jkk-research/urban_road_filter) \- Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles.
  * [ Removert ](https://github.com/irapkaist/removert) \- Remove then revert. Static map construction in the wild and dynamic points removing tool by constructing a static map.
  * [ KISS-ICP ](https://github.com/PRBonn/kiss-icp) \- A LiDAR Odometry pipeline that just works on most of the cases without tunning any parameter.


](/jobs-at-medium/work-at-medium-959d1a85284e?source=post_page-----
14de44d58cc9--------------------------------)


###  Version Control


 This is the development environment
    FROM althack/ros2:foxy-dev


###  License


](/about?autoplay=1&source=post_page-----
14de44d58cc9--------------------------------)


Last commit date

---|---|---|---

##  Latest commit


  * [ SARosPerceptionKitti ](https://github.com/appinho/SARosPerceptionKitti) \- ROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark Suite.
  * [ multiple-object-tracking-lidar ](https://github.com/praveen-palanisamy/multiple-object-tracking-lidar) \- C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud.
  * [ cadrl_ros ](https://github.com/mfe7/cadrl_ros) \- ROS package for dynamic obstacle avoidance for ground robots trained with deep RL.
  * [ AugmentedAutoencoder ](https://github.com/DLR-RM/AugmentedAutoencoder) \- RGB-based pipeline for object detection and 6D pose estimation.
  * [ jsk_recognition ](https://github.com/jsk-ros-pkg/jsk_recognition) \- A stack for the perception packages which are used in JSK lab.
  * [ GibsonEnv ](https://github.com/StanfordVL/GibsonEnv) \- Gibson Environments: Real-World Perception for Embodied Agents.
  * [ morefusion ](https://github.com/wkentaro/morefusion) \- Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion.
  * [ se(3)-TrackNet ](https://github.com/wenbowen123/iros20-6d-pose-tracking) \- A package for 6D pose tracking of dynamic objects when object's CAD model is available.


###  Lidar and Point Cloud Processing


[ Dronecode ](https://www.dronecode.org/)


You can learn more about how to get started with Copilot in the [ Copilot
documentation ](/docs/editor/github-copilot) .


To understand the process, let's install Mingw-w64 via [ MSYS2
](https://www.msys2.org/) . Mingw-w64 is a popular, free toolset on Windows.
It provides up-to-date native builds of GCC, Mingw-w64, and other helpful C++
tools and libraries.


  extensions

Extensions are VSCode plugins you’d like to have in the container. By hosting
them in the container, you can be sure that specific ones are installed and
configured for everyone.

I like using the following extensions with ROS2.

        "extensions": [
            "ms-azuretools.vscode-docker",
            "ms-python.python",
            "ms-vscode.cpptools",
            "twxs.cmake",
            "ms-vscode.cmake-tools",
            "ms-iot.vscode-ros",
            "smilerobotics.urdf",
            "yzhang.markdown-all-in-one"
        ]


##  Enhance completions with AI


###  Lidar


###  Lint and Format


  * [ awesome-safety-critical ](https://github.com/stanislaw/awesome-safety-critical) \- List of resources about programming practices for writing safety-critical software.
  * [ open-autonomous-safety ](https://github.com/voyage/open-autonomous-safety) \- OAS is a fully open-source library of Voyage's safety processes and testing procedures, designed to supplement existing safety programs at self-driving car startups across the world.
  * [ CarND-Functional-Safety-Project ](https://github.com/udacity/CarND-Functional-Safety-Project) \- Create functional safety documents in this Udacity project.
  * [ Automated Valet Parking Safety Documents ](https://avp-project.uk/publication-of-safety-documents) \- Created to support the safe testing of the Automated Valet Parking function using the StreetDrone test vehicle in a car park.
  * [ safe_numerics ](https://github.com/boostorg/safe_numerics) \- Replacements to standard numeric types which throw exceptions on errors.
  * [ Air Vehicle C++ development coding standards ](http://www.stroustrup.com/JSF-AV-rules.pdf) \- Provide direction and guidance to C++ programmers that will enable them to employ good programming style and proven programming practices leading to safe, reliable, testable, and maintainable code.
  * [ AUTOSAR Coding Standard ](https://www.autosar.org/fileadmin/user_upload/standards/adaptive/17-10/AUTOSAR_RS_CPP14Guidelines.pdf) \- Guidelines for the use of the C++14 language in critical and safety-related system.
  * [ The W-Model and Lean Scaled Agility for Engineering ](https://assets.vector.com/cms/content/consulting/publications/AgileSystemsEngineering_Vector_Ford.pdf) \- Ford applied an agile V-Model method from Vector that can be used in safety related project management.
  * [ doorstop ](https://github.com/doorstop-dev/doorstop) \- Requirements management using version control.
  * [ capella ](https://www.eclipse.org/capella/) \- Comprehensive, extensible and field-proven MBSE tool and method to successfully design systems architecture.
  * [ robmosys ](https://robmosys.eu/) \- RobMoSys envisions an integrated approach built on top of the current code-centric robotic platforms, by applying model-driven methods and tools.
  * [ Papyrus for Robotics ](https://www.eclipse.org/papyrus/components/robotics/) \- A graphical editing tool for robotic applications that complies with the RobMoSys approach.
  * [ fossology ](https://github.com/fossology/fossology) \- A toolkit you can run license, copyright and export control scans from the command line.
  * [ ScenarioArchitect ](https://github.com/TUMFTM/ScenarioArchitect) \- The Scenario Architect is a basic python tool to generate, import and export short scene snapshots.


###  Sensor and Acuator Interfaces


* [ Pricing ](/pricing)


  * [ Terms ](https://docs.github.com/site-policy/github-terms/github-terms-of-service)
  * [ Privacy ](https://docs.github.com/site-policy/privacy-policies/github-privacy-statement)
  * [ Security ](/security)
  * [ Status ](https://www.githubstatus.com/)
  * [ Docs ](https://docs.github.com/)
  * [ Contact ](https://support.github.com?tags=dotcom-footer)
  * Manage cookies
  * Do not share my personal information


Understood.


Now create a new file called ` helloworld.cpp ` with the **New File** button
in the File Explorer or **File** > **New File** command.


Attach screenshot here. I probably can’t help you - what you want to do is
provide enough information that someone can.


    * [ Learning Pathways  ](https://resources.github.com/learn/pathways/)
    * [ White papers, Ebooks, Webinars  ](https://resources.github.com/)
    * [ Customer Stories ](/customer-stories)
    * [ Partners  ](https://partner.github.com/)


##  Simultaneous Localization and Mapping


##  Communication and Coordination


Teams


Create a launch.json file in .vscode directory inside workspace. This can be
done directly from command prompt or via VSCode GUI.


VSCode in a debugging session (breakpoint hit)


##  Sensor Processing


[ docs.px4.io ](https://docs.px4.io/main/en/simulation/gazebo.html)


###  Controller Area Network


![C++ debug configuration dropdown](/assets/docs/languages/cpp/select-gcc-
compiler.png)


![File Explorer New File button](/assets/docs/languages/cpp/new-file.png)


###  Image Processing


  * [ Guidelines ](https://github.com/S2-group/icse-seip-2020-replication-package/blob/master/ICSE_SEIP_2020.pdf) \- How to architect ROS-based systems.
  * [ yEd ](https://www.yworks.com/products/yed) \- A powerful desktop application that can be used to quickly and effectively generate high-quality diagrams.
  * [ yed_py ](https://github.com/true-grue/yed_py) \- Generates graphML that can be opened in yEd.
  * [ Plantuml ](https://github.com/plantuml/plantuml-server) \- Web application to generate UML diagrams on-the-fly in your live documentation.
  * [ rqt_graph ](https://wiki.ros.org/rqt_graph) \- Provides a GUI plugin for visualizing the ROS computation graph.
  * [ rqt_launchtree ](https://github.com/pschillinger/rqt_launchtree) \- An RQT plugin for hierarchical launchfile configuration introspection.
  * [ cpp-dependencies ](https://github.com/tomtom-international/cpp-dependencies) \- Tool to check C++ #include dependencies (dependency graphs created in .dot format).
  * [ pydeps ](https://github.com/thebjorn/pydeps) \- Python Module Dependency graphs.
  * [ aztarna ](https://github.com/aliasrobotics/aztarna) \- A footprinting tool for robots.
  * [ draw.io ](https://www.draw.io/) \- A free online diagram software for making flowcharts, process diagrams, org charts, UML, ER and network diagrams.
  * [ vscode-drawio ](https://github.com/hediet/vscode-drawio) \- This extension integrates Draw.io into VS Code.
  * [ Architecture_Decision_Record ](https://github.com/joelparkerhenderson/architecture_decision_record) \- A document that captures an important architectural decision made along with its context and consequences.


  * [ AI2-THOR ](https://github.com/allenai/ai2thor) \- Python framework with a Unity backend providing interaction, navigation, and manipulation support for household based robotic agents, consisting of 200+ of custom scenes, 1500+ custom annotated objects, and 200+ actions.
  * [ Drake ](https://github.com/RobotLocomotion/drake) \- Drake aims to simulate even very complex dynamics of robots.
  * [ Webots ](https://github.com/cyberbotics/webots) \- Webots is an open source robot simulator compatible (among others) with [ ROS ](http://wiki.ros.org/webots_ros) and [ ROS2 ](http://wiki.ros.org/webots_ros2) .
  * [ lgsv ](https://github.com/lgsvl/simulator) \- LG Electronics America R&D Center has developed an HDRP Unity-based multi-robot simulator for autonomous vehicle developers.
  * [ carla ](https://github.com/carla-simulator/carla) \- Open-source simulator for autonomous driving research.
  * [ awesome-CARLA ](https://github.com/Amin-Tgz/awesome-CARLA) \- A curated list of awesome CARLA tutorials, blogs, and related projects.
  * [ ros-bridge ](https://github.com/carla-simulator/ros-bridge) \- ROS bridge for CARLA Simulator.
  * [ scenario_runner ](https://github.com/carla-simulator/scenario_runner) \- Traffic scenario definition and execution engine.
  * [ deepdive ](https://github.com/deepdrive/deepdrive) \- End-to-end simulation for self-driving cars.
  * [ uuv_simulator ](https://github.com/uuvsimulator/uuv_simulator) \- Gazebo/ROS packages for underwater robotics simulation.
  * [ AirSim ](https://github.com/microsoft/AirSim) \- Open source simulator for autonomous vehicles built on Unreal Engine.
  * [ self-driving-car-sim ](https://github.com/udacity/self-driving-car-sim) \- A self-driving car simulator built with Unity.
  * [ ROSIntegration ](https://github.com/code-iai/ROSIntegration) \- Unreal Engine Plugin to enable ROS Support.
  * [ gym-gazebo ](https://github.com/erlerobot/gym-gazebo) \- An OpenAI gym extension for using Gazebo known as gym-gazebo.
  * [ gym-pybullet-drones ](https://github.com/utiasDSL/gym-pybullet-drones) \- PyBullet-based Gym environments for single and multi-agent reinforcement learning of quadcopter control.
  * [ safe-control-gym ](https://github.com/utiasDSL/safe-control-gym) \- PyBullet-based CartPole and Quadrotor environments—with CasADi symbolic dynamics and constraints—for safe and robust learning-based control.
  * [ highway-env ](https://github.com/eleurent/highway-env) \- A collection of environments for autonomous driving and tactical decision-making tasks.
  * [ VREP Interface ](http://www.coppeliarobotics.com/helpFiles/en/rosInterf.htm) \- ROS Bridge for the VREP simulator.
  * [ car_demo ](https://github.com/osrf/car_demo) \- This is a simulation of a Prius in gazebo 9 with sensor data being published using ROS kinetic.
  * [ sumo ](https://github.com/eclipse/sumo) \- Eclipse SUMO is an open source, highly portable, microscopic and continuous road traffic simulation package designed to handle large road networks.
  * [ open-simulation-interface ](https://github.com/OpenSimulationInterface/open-simulation-interface) \- A generic interface for the environmental perception of automated driving functions in virtual scenarios.
  * [ ESIM ](https://github.com/uzh-rpg/rpg_esim/) \- An Open Event Camera Simulator.
  * [ Menge ](https://github.com/MengeCrowdSim/Menge) \- Crowd Simulation Framework.
  * [ pedsim_ros ](https://github.com/srl-freiburg/pedsim_ros) \- Pedestrian simulator powered by the social force model for Gazebo.
  * [ opencrg ](http://www.opencrg.org/download.html) \- Open file formats and open source tools for the detailed description, creation and evaluation of road surfaces.
  * [ esmini ](https://github.com/esmini/esmini) \- A basic OpenSCENARIO player.
  * [ OpenSceneGraph ](https://github.com/openscenegraph/OpenSceneGraph) \- An open source high performance 3D graphics toolkit, used by application developers in fields such as visual simulation, games, virtual reality, scientific visualization and modelling.
  * [ morse ](https://github.com/morse-simulator) \- An academic robotic simulator, based on the Blender Game Engine and the Bullet Physics engine.
  * [ ROSIntegrationVision ](https://github.com/code-iai/ROSIntegrationVision) \- Support for ROS-enabled RGBD data acquisition in Unreal Engine Projects.
  * [ fetch_gazebo ](https://github.com/fetchrobotics/fetch_gazebo) \- Contains the Gazebo simulation for Fetch Robotics Fetch and Freight Research Edition Robots.
  * [ rotors_simulator ](https://github.com/ethz-asl/rotors_simulator) \- Provides some multirotor models.
  * [ flow ](https://github.com/flow-project/flow) \- A computational framework for deep RL and control experiments for traffic microsimulation.
  * [ gnss-ins-sim ](https://github.com/Aceinna/gnss-ins-sim) \- GNSS + inertial navigation, sensor fusion simulator. Motion trajectory generator, sensor models, and navigation.
  * [ Ignition Robotics ](https://ignitionrobotics.org) \- Test control strategies in safety, and take advantage of simulation in continuous integration tests.
  * [ simulation assets for the SubT ](https://subtchallenge.world/openrobotics/fuel/collections/SubT%20Tech%20Repo) \- This collection contains simulation assets for the SubT Challenge Virtual Competition in Gazebo.
  * [ gazebo_ros_motors ](https://github.com/nilseuropa/gazebo_ros_motors) \- Contains currently two motor plugins for Gazebo, one with an ideal speed controller and one without a controller that models a DC motor.
  * [ map2gazebo ](https://github.com/shilohc/map2gazebo) \- ROS package for creating Gazebo environments from 2D maps.
  * [ sim_vehicle_dynamics ](https://github.com/TUMFTM/sim_vehicle_dynamics) \- Vehicle Dynamics Simulation Software of TUM Roborace Team.
  * [ gym-carla ](https://github.com/cjy1992/gym-carla) \- An OpenAI gym wrapper for CARLA simulator.
  * [ simbody ](https://github.com/simbody/simbody) \- High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.


  * README
  * CC0-1.0 license


  * [ sshfs ](https://github.com/osxfuse/sshfs) \- File system based on the SSH File Transfer Protocol.
  * [ moosefs ](https://github.com/moosefs/moosefs) \- A scalable distributed storage system.
  * [ ceph ](https://github.com/ceph/ceph) \- A distributed object, block, and file storage platform.
  * [ nfs ](https://github.com/sahlberg/libnfs) \- A distributed file system protocol originally developed by Sun Microsystems.
  * [ ansible-role-nfs ](https://github.com/geerlingguy/ansible-role-nfs) \- Installs NFS utilities on RedHat/CentOS or Debian/Ubuntu.


##  Localization and State Estimation


  Adding ROS2

You will need to have the ROS libraries as well as the dependant development
packages to develop in ROS2. I keep an updated version of ROS2 packages on [
dockerhub ](https://hub.docker.com/repository/docker/althack/ros2) . I
maintain both a base version and a development version of the docker
container.

Why two?

The base version has the minimal dependencies needed to run ROS2. You can use
this image for code you want to deploy, but don’t want or need the ability to
write new code. The development version is based on the base version and adds
all the dependencies you need to compile and create new packages.


    * Monitoring
    * Database and Record
    * Network Distributed File System
    * Server Infrastructure and High Performance Computing
    * Embedded Operation System
    * Real-Time Kernel
  * Network and Middleware
    * Ethernet and Wireless Networking
    * Controller Area Network
    * Sensor and Acuator Interfaces
  * Security
  * Datasets


##  Debugging plugin startup code loaded with gzserver


Gazebo runs in a client and server process. All the physics logic is carried
out by service process named gzserver. It also host plugins dynamic libraries.
The client (gzclient) is the front end counter part and responsible for
rendering physics state on the screen using 3D libraries. This separations
allows to run gzclient and gzserver on separate machines thus get better
results for actual simulation and not effected by 3D rendering. The gzserver
is alone enough to run off display simulation.


If you run into any issues or have suggestions for the Microsoft C/C++
extension, please file [ issues and suggestions on GitHub
](https://github.com/microsoft/vscode-cpptools/issues) . If you haven't
already provided feedback, you can take this [ quick survey
](https://www.research.net/r/VBVV6C6) .


For


**spawn_entity command**


[ hamishwillee  ](https://discuss.px4.io/u/hamishwillee) November 21, 2022,
10:06pm  4


Replace any existing contents with below snippet.


##  Data Visualization and Mission Control


Node that my screenshots differ slightly than the documentation in that I dont
have a px4_sitl (debug) option nor a SITL (Gazebo iris) option exactly. I am
unsure if that matters. Additionally, it is clear (see screenshots) that PX4
starts and gazebo seems to start in the terminal, but the Gazebo UI never
launches.


  * [ gollum ](https://github.com/gollum/gollum) \- A simple, Git-powered wiki with a sweet API and local frontend.
  * [ GanttLab ](https://gitlab.com/ganttlab/ganttlab) \- The easy to use, fully functional Gantt chart for GitLab and GitHub.
  * [ Zotero ](https://github.com/zotero/zotero) \- A free, easy-to-use tool to help you collect, organize, cite, and share your research sources.


  * [ pyroSAR ](https://github.com/johntruckenbrodt/pyroSAR) \- Framework for large-scale SAR satellite data processing.
  * [ CameraRadarFusionNet ](https://github.com/TUMFTM/CameraRadarFusionNet) \- TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.


  * [ Groot ](https://github.com/BehaviorTree/Groot) \- Graphical Editor to create BehaviorTrees. Compliant with BehaviorTree.CPP.
  * [ BehaviorTree.CPP ](https://github.com/BehaviorTree/BehaviorTree.CPP) \- Behavior Trees Library in C++.
  * [ RAFCON ](https://github.com/DLR-RM/RAFCON) \- Uses hierarchical state machines, featuring concurrent state execution, to represent robot programs.
  * [ ROSPlan ](https://github.com/KCL-Planning/ROSPlan) \- Generic framework for task planning in a ROS system.
  * [ ad-rss-lib ](https://github.com/intel/ad-rss-lib) \- Library implementing the Responsibility Sensitive Safety model (RSS) for Autonomous Vehicles.
  * [ FlexBE ](https://flexbe.github.io/) \- Graphical editor for hierarchical state machines, based on ROS's smach.
  * [ sts_bt_library ](https://github.com/Autonomous-Logistics/sts_bt_library) \- This library provides the functionality to set up your own behavior tree logic by using the defined tree structures like Fallback, Sequence or Parallel Nodes.
  * [ SMACC ](https://github.com/reelrbtx/SMACC) \- An Event-Driven, Asynchronous, Behavioral State Machine Library for real-time ROS (Robotic Operating System) applications written in C++ .
  * [ py_trees_ros ](https://github.com/splintered-reality/py_trees_ros) \- Behaviours, trees and utilities that extend py_trees for use with ROS.


[ README.md ](/Ly0n/awesome-robotic-tooling/blob/main/README.md "README.md")


As the technical lead at Intel Corporation, my work orbits around the
intriguing world of Robotics and Artificial Intelligence.


#  Provide feedback


[ MaEtUgR  ](https://discuss.px4.io/u/MaEtUgR) December 6, 2022, 9:07am  9


###  Ethernet and Wireless Networking


###  Debugging and Tracing


Wait loop can wait on a file on local system. After ros2 launch, the gzserver
will be blocked by the plugin due to below loop. This will give the
opportunity to attach VS Code to gzserver and wait for symbols to get loaded,
set a breakpoint on desired location and then create the file via ‘touch
/tmp/go’ command to proceed. Assuming DEBUG_ON preprocessor flag is set to 1.


  * Start gazebo
  * Set break point on desired plugin function
  * Attach to gzserver via vscode launch.json file
  * Import model containing plugin reference into gazebo via spawn_entity.py script.
  * Breakpoint should get hit once the function is called.
  * Continue with Watch and other debugging steps


Readme


ENTRYPOINT [ "/setup/entrypoint.sh" ]


Follow


  1. Install the VS Code [ Remote Development Extension Pack ](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack) .
  2. If the remote source files are hosted in WSL, use the **WSL** extension.
  3. If you are connecting to a remote machine with SSH, use the **Remote - SSH** extension.
  4. If the remote source files are hosted in a container (for example, Docker), use the **Dev Containers** extension.


  * [ KISS-ICP ](https://github.com/PRBonn/kiss-icp) \- A LiDAR Odometry pipeline that just works on most of the cases without tunning any parameter.
  * [ loam_velodyne ](https://github.com/laboshinl/loam_velodyne) \- Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
  * [ lio-mapping ](https://github.com/hyye/lio-mapping) \- Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping).
  * [ A-LOAM ](https://github.com/HKUST-Aerial-Robotics/A-LOAM) \- Advanced implementation of LOAM.
  * [ Fast LOAM ](https://github.com/wh200720041/floam) \- Fast and Optimized Lidar Odometry And Mapping.
  * [ LIO_SAM ](https://github.com/TixiaoShan/LIO-SAM) \- Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping.
  * [ cartographer_ros ](https://github.com/googlecartographer/cartographer_ros) \- Provides ROS integration for Cartographer.
  * [ loam_livox ](https://github.com/hku-mars/loam_livox) \- A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR.
  * [ StaticMapping ](https://github.com/EdwardLiuyc/StaticMapping) \- Use LiDAR to map the static world.
  * [ semantic_suma ](https://github.com/PRBonn/semantic_suma/) \- Semantic Mapping using Surfel Mapping and Semantic Segmentation.
  * [ slam_toolbox ](https://github.com/SteveMacenski/slam_toolbox) \- Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS .
  * [ maplab ](https://github.com/ethz-asl/maplab) \- An open visual-inertial mapping framework.
  * [ hdl_graph_slam ](https://github.com/koide3/hdl_graph_slam) \- An open source ROS package for real-time 6DOF SLAM using a 3D LIDAR.
  * [ interactive_slam ](https://github.com/SMRT-AIST/interactive_slam) \- In contrast to existing automatic SLAM packages, we with minimal human effort.
  * [ LeGO-LOAM ](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM) \- Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain.
  * [ pyslam ](https://github.com/luigifreda/pyslam) \- Contains a monocular Visual Odometry (VO) pipeline in Python.
  * [ Kitware SLAM ](https://gitlab.kitware.com/keu-computervision/slam/) \- LiDAR-only visual SLAM developped by Kitware, as well as ROS and ParaView wrappings for easier use.
  * [ horizon_highway_slam ](https://github.com/Livox-SDK/horizon_highway_slam) \- A robust, low drift, and real time highway SLAM package suitable for Livox Horizon lidar.
  * [ mola ](https://github.com/MOLAorg/mola) \- A Modular System for Localization and Mapping.
  * [ DH3D ](https://github.com/JuanDuGit/DH3D) \- Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DOF Relocalization.
  * [ LaMa ](https://github.com/iris-ua/iris_lama) \- LaMa is a C++11 software library for robotic localization and mapping.
  * [ Scan Context ](https://github.com/irapkaist/scancontext) \- Global LiDAR descriptor for place recognition and long-term localization.
  * [ M-LOAM ](https://github.com/gogojjh/M-LOAM) \- Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration.


  * [ pyo ](https://github.com/belangeo/pyo) \- A Python module written in C containing classes for a wide variety of audio signal processing types.
  * [ rhasspy ](https://github.com/synesthesiam/rhasspy) \- Rhasspy (pronounced RAH-SPEE) is an offline, multilingual voice assistant toolkit inspired by Jasper that works well with Home Assistant, Hass.io, and Node-RED.
  * [ mycroft-core ](https://github.com/MycroftAI/mycroft-core) \- Mycroft is a hackable open source voice assistant.
  * [ DDSP ](https://github.com/magenta/ddsp) \- A library of differentiable versions of common DSP functions (such as synthesizers, waveshapers, and filters).
  * [ NoiseTorch ](https://github.com/lawl/NoiseTorch) \- Creates a virtual microphone that suppresses noise, in any application.
  * [ DeepSpeech ](https://github.com/mozilla/DeepSpeech) \- An open source Speech-To-Text engine, using a model trained by machine learning techniques based on Baidu's Deep Speech research paper.
  * [ waveglow ](https://github.com/NVIDIA/waveglow) \- A Flow-based Generative Network for Speech Synthesis.
  * [ TTS ](https://github.com/coqui-ai/TTS) \- A deep learning toolkit for Text-to-Speech, battle-tested in research and production.


We need to have a look why the visualization is suddenly missing. Did you try
different versions? That might just give a hint. I just saw that on 1.13 the
launch structure was still different: [ PX4-Autopilot/launch_sim.json.in at
release/1.13 · PX4/PX4-Autopilot · GitHub
](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/platforms/posix/Debug/launch_sim.json.in#L10-L19)


{{ message }}


  [ Setting Up a Local Docker Registry ](/articles/local-docker-registry)

After you’ve been developing your code [ using docker ](/articles/docker-
development) there will inevitably come a time when you’d like to share your
workspace (code and all!) with someone else or put it on another computer.

May 27, 2020

[ ![VSCode and Docker](/assets/img/IMG_5118.jpg) ](/articles/docker-
development)


Powered by [ Discourse ](https://www.discourse.org) , best viewed with
JavaScript enabled


#  Debugging plugins


##  Set up your C++ Environment


[ ](https://github.com/)


Skip to content __ [ Visual Studio Code ](/)


####  In this article there are 10 sections  In this article


](/@arshad.mehmood?source=post_page-----
14de44d58cc9--------------------------------)


  Related posts

[ ![My Values](/assets/img/marek-piwnicki-iwabZE-qN_U-unsplash.jpg)
](/articles/values)


  * [ ELISA ](https://elisa.tech/) \- Project is to make it easier for companies to build and certify Linux-based safety-critical applications – systems whose failure could result in loss of human life, significant property damage or environmental damage.
  * [ PREEMPT_RT kernel patch ](https://wiki.linuxfoundation.org/realtime/documentation/start) \- Aim of the PREEMPT_RT kernel patch is to minimize the amount of kernel code that is non-preemptible.


Sign up


###  Create a C++ file


##  User Interaction


  * [ GCC on Windows via MinGW ](/docs/cpp/config-mingw)
  * [ Microsoft C++ on Windows ](/docs/cpp/config-msvc)
  * [ GCC on Linux ](/docs/cpp/config-linux)
  * [ GCC on Windows Subsystem For Linux ](/docs/cpp/config-wsl)
  * [ Clang/LLVM on macOS ](/docs/cpp/config-clang-mac)
  * [ CMake Tools on Linux ](/docs/cpp/cmake-linux)


    * [ C# ](/docs/languages/csharp)
    * [ .NET ](/docs/languages/dotnet)
    * [ Polyglot ](/docs/languages/polyglot)
  * Node.js / JavaScript
    * [ Working with JavaScript ](/docs/nodejs/working-with-javascript)
    * [ Node.js Tutorial ](/docs/nodejs/nodejs-tutorial)
    * [ Node.js Debugging ](/docs/nodejs/nodejs-debugging)
    * [ Deploy Node.js Apps ](/docs/nodejs/nodejs-deployment)
    * [ Browser Debugging ](/docs/nodejs/browser-debugging)
    * [ Angular Tutorial ](/docs/nodejs/angular-tutorial)
    * [ React Tutorial ](/docs/nodejs/reactjs-tutorial)
    * [ Vue Tutorial ](/docs/nodejs/vuejs-tutorial)
    * [ Debugging Recipes ](/docs/nodejs/debugging-recipes)
    * [ Performance Profiling ](/docs/nodejs/profiling)
    * [ Extensions ](/docs/nodejs/extensions)
  * TypeScript
    * [ Tutorial ](/docs/typescript/typescript-tutorial)
    * [ Compiling ](/docs/typescript/typescript-compiling)
    * [ Editing ](/docs/typescript/typescript-editing)
    * [ Refactoring ](/docs/typescript/typescript-refactoring)
    * [ Debugging ](/docs/typescript/typescript-debugging)
  * Python
    * [ Quick Start ](/docs/python/python-quick-start)
    * [ Tutorial ](/docs/python/python-tutorial)
    * [ Editing Code ](/docs/python/editing)
    * [ Linting ](/docs/python/linting)
    * [ Formatting ](/docs/python/formatting)
    * [ Debugging ](/docs/python/debugging)
    * [ Environments ](/docs/python/environments)
    * [ Testing ](/docs/python/testing)
    * [ Python Interactive ](/docs/python/jupyter-support-py)
    * [ Django Tutorial ](/docs/python/tutorial-django)
    * [ FastAPI Tutorial ](/docs/python/tutorial-fastapi)
    * [ Flask Tutorial ](/docs/python/tutorial-flask)
    * [ Create containers ](/docs/python/tutorial-create-containers)
    * [ Deploy Python Apps ](/docs/python/python-on-azure)
    * [ Python in the Web ](/docs/python/python-web)
    * [ Settings Reference ](/docs/python/settings-reference)
  * Java
    * [ Getting Started ](/docs/java/java-tutorial)


There could be multiple ways to wait. Here two of them are listed.


Interactive debugging requires debug symbols to be included in the binary as
well as with minimal optimizations. Too much compiler optimization effect
debugger’s ability to relate code with instructions. Best scenario for
debugging would be to build binaries with -O0 flag (no optimization). -g flag
instructs compiler to embed debug symbol into the executable.


put dependent packages here


To check if you already have them installed:


#  **Gazebo Plugin Types**


[ PX4 ](http://px4.io/)


  Table of Contents

  * What is ROS2
  * VSCode and Docker
  * Adding ROS2
    * Folder structure
  * Set up the docker development container
    * Make the docker file
    * Set up the development container
      * context
      * dockerfile
      * remoteUser
      * runArgs
      * extensions
  * Set up CPP properties
  * Set up tasks
  * Set up the debugger
    * Python
    * C++


Using variable update:


##  Planning and Control


  * [ labelbox ](https://github.com/Labelbox/labelbox) \- The fastest way to annotate data to build and ship artificial intelligence applications.
  * [ PixelAnnotationTool ](https://github.com/abreheret/PixelAnnotationTool) \- Annotate quickly images.
  * [ LabelImg ](https://github.com/tzutalin/labelImg) \- A graphical image annotation tool and label object bounding boxes in images.
  * [ cvat ](https://github.com/opencv/cvat) \- Powerful and efficient Computer Vision Annotation Tool (CVAT).
  * [ point_labeler ](https://github.com/jbehley/point_labeler) \- Tool for labeling of a single point clouds or a stream of point clouds.
  * [ label-studio ](https://github.com/heartexlabs/label-studio) \- Label Studio is a multi-type data labeling and annotation tool with standardized output format.
  * [ napari ](https://github.com/napari/napari) \- A fast, interactive, multi-dimensional image viewer for python.
  * [ semantic-segmentation-editor ](https://github.com/Hitachi-Automotive-And-Industry-Lab/semantic-segmentation-editor) \- A web based labeling tool for creating AI training data sets (2D and 3D).
  * [ 3d-bat ](https://github.com/walzimmer/3d-bat) \- 3D Bounding Box Annotation Tool for Point cloud and Image Labeling.
  * [ labelme ](https://github.com/wkentaro/labelme) \- Image Polygonal Annotation with Python (polygon, rectangle, circle, line, point and image-level flag annotation).
  * [ universal-data-tool ](https://github.com/UniversalDataTool/universal-data-tool) \- Collaborate & label any type of data, images, text, or documents, in an easy web interface or desktop app.
  * [ BMW-Labeltool-Lite ](https://github.com/BMW-InnovationLab/BMW-Labeltool-Lite) \- Provides you with a easy to use labeling tool for State-of-the-art Deep Learning training purposes.
  * [ 3d-annotation-tool ](https://github.com/StrayRobots/3d-annotation-tool) \- Lightweight tool to annotate point clouds with bounding boxes, rectangles, keypoints and more.


](https://policy.medium.com/medium-terms-of-
service-9db0094a1e0f?source=post_page-----
14de44d58cc9--------------------------------)


Go to file


* Product


##  Prediction


###  Point Cloud


Your contribution is necessary to keep this list alive, increase the quality
and to expand it. You can read more about it's origin and how you can
participate in the [ contribution guide ](/Ly0n/awesome-robotic-
tooling/blob/main/CONTRIBUTING.md) and related [ blog post
](https://rosindustrial.org/news/2020/5/11/guest-article-on-the-story-of-the-
autonomous-logistics) . All new project entries will have a tweet from [
protontypes ](https://twitter.com/protontypes) .


    * [ Enterprise ](/enterprise)
    * [ Teams ](/team)
    * [ Startups ](/enterprise/startups)
    * [ Education  ](https://education.github.com)


gazebo command is basically wrapper executable to run gzserver and gzclient
processes.


1. Download using [ **this direct link to the MinGW installer** ](https://github.com/msys2/msys2-installer/releases/download/2023-05-26/msys2-x86_64-20230526.exe) .


###  Server Infrastructure and High Performance Computing


GitHub Copilot provides suggestions for numerous languages and a wide variety
of frameworks, and it works especially well for Python, JavaScript,
TypeScript, Ruby, Go, C# and C++.


###  Install a compiler


PX4 is the Professional Autopilot. Developed by world-class developers from
industry and academia, and supported by an active world wide community, it
powers all kinds of vehicles from racing and cargo drones through to ground
vehicles and...


  Set up the debugger

Once you can build your code, you may want to run and debug it. You can do
this by adding different configurations to the .vscode/launch.json file

Different debuggers are used for c++ and python


clang --version


###  Code and Run


[ **3k** stars ](/Ly0n/awesome-robotic-tooling/stargazers)


Last commit message


#  [ Should VSCode LAUNCH Gazebo? ](/t/should-vscode-launch-gazebo/29760)


colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE= **Debug**


  1. Open VS Code.
  2. Select the Extensions view icon on the Activity bar or use the keyboard shortcut (  ⇧⌘X  (Windows, Linux  Ctrl+Shift+X  )  ).
  3. Search for ` 'C++' ` .
  4. Select **Install** .


[ QGroundControl ](http://qgroundcontrol.com/)


##  Architecture and Design


5. Accept the default number of packages in the ` toolchain ` group by pressing  Enter  .


  * [ rosmon ](https://github.com/xqms/rosmon) \- ROS node launcher & monitoring daemon.
  * [ multimaster_fkie ](https://github.com/fkie/multimaster_fkie) \- GUI-based management environment that is very useful to manage ROS-launch configurations and control running nodes.
  * [ collectd ](https://github.com/collectd/collectd/) \- A small daemon which collects system information periodically and provides mechanisms to store and monitor the values in a variety of ways.
  * [ lnav ](http://lnav.org/) \- An enhanced log file viewer that takes advantage of any semantic information that can be gleaned from the files being viewed, such as timestamps and log levels.
  * [ htop ](https://github.com/hishamhm/htop) \- An interactive text-mode process viewer for Unix systems. It aims to be a better 'top'.
  * [ atop ](https://github.com/Atoptool/atop) \- System and process monitor for Linux with logging and replay function.
  * [ psutil ](https://github.com/giampaolo/psutil) \- Cross-platform lib for process and system monitoring in Python.
  * [ gputil ](https://github.com/anderskm/gputil) \- A Python module for getting the GPU status from NVIDA GPUs using nvidia-smi programmically in Python.
  * [ gpustat ](https://github.com/wookayin/gpustat) \- A simple command-line utility for querying and monitoring GPU status.
  * [ nvtop ](https://github.com/Syllo/nvtop) \- NVIDIA GPUs htop like monitoring tool.
  * [ ShellHub ](https://www.shellhub.io) \- ShellHub is a modern SSH server for remotely accessing linux devices via command line (using any SSH client) or web-based user interface, designed as an alternative to sshd. Think ShellHub as centralized SSH for the the edge and cloud computing.
  * [ Sshwifty ](https://github.com/nirui/sshwifty) \- Sshwifty is a SSH and Telnet connector made for the Web.
  * [ spdlog ](https://github.com/gabime/spdlog) \- Very fast, header-only/compiled, C++ logging library.
  * [ ctop ](https://github.com/bcicen/ctop) \- Top-like interface for container metrics.
  * [ ntop ](https://github.com/ntop/ntopng) \- Web-based Traffic and Security Network Traffic Monitoring.
  * [ jupyterlab-nvdashboard ](https://github.com/rapidsai/jupyterlab-nvdashboard) \- A JupyterLab extension for displaying dashboards of GPU usage.


###  Watchers


[ ](/search?source=---two_column_layout_nav----------------------------------)


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


Tooling for professional robotic development in C++ and Python with a touch of
ROS, autonomous driving and aerospace.


###  Forks


[ Go to the MSVC tutorial ](/docs/cpp/config-msvc#_prerequisites)


Query


You should see output that states which versions of GCC, g++ and GDB you have
installed. If this is not the case, make sure your PATH entry matches the
Mingw-w64 binary location where the compiler tools are located or reference
the [ troubleshooting section ](/docs/cpp/config-mingw#__check-your-mingw-
installation) .


Name


  * [ ![Search](/assets/icons/search.svg) ![Search](/assets/icons/search_dark.svg) ](/Search "Search")
  * ![Search](/assets/icons/search.svg) ![Search](/assets/icons/search_dark.svg)


  * [ ![@Ly0n](https://avatars.githubusercontent.com/u/6413976?s=64&v=4) ](https://github.com/Ly0n)
  * [ ![@af-silva](https://avatars.githubusercontent.com/u/11874980?s=64&v=4) ](https://github.com/af-silva)
  * [ ![@horverno](https://avatars.githubusercontent.com/u/11504709?s=64&v=4) ](https://github.com/horverno)
  * [ ![@ariexi](https://avatars.githubusercontent.com/u/50372458?s=64&v=4) ](https://github.com/ariexi)
  * [ ![@esthersweon](https://avatars.githubusercontent.com/u/6993359?s=64&v=4) ](https://github.com/esthersweon)
  * [ ![@TobiasCy](https://avatars.githubusercontent.com/u/18676261?s=64&v=4) ](https://github.com/TobiasCy)
  * [ ![@DavidMansolino](https://avatars.githubusercontent.com/u/2461619?s=64&v=4) ](https://github.com/DavidMansolino)
  * [ ![@engnadeau](https://avatars.githubusercontent.com/u/6395915?s=64&v=4) ](https://github.com/engnadeau)
  * [ ![@JacopoPan](https://avatars.githubusercontent.com/u/19269261?s=64&v=4) ](https://github.com/JacopoPan)
  * [ ![@peci1](https://avatars.githubusercontent.com/u/182533?s=64&v=4) ](https://github.com/peci1)
  * [ ![@LoyVanBeek](https://avatars.githubusercontent.com/u/709259?s=64&v=4) ](https://github.com/LoyVanBeek)
  * [ ![@kscottz](https://avatars.githubusercontent.com/u/967306?s=64&v=4) ](https://github.com/kscottz)
  * [ ![@fdietze](https://avatars.githubusercontent.com/u/1186516?s=64&v=4) ](https://github.com/fdietze)
  * [ ![@kekeblom](https://avatars.githubusercontent.com/u/1204635?s=64&v=4) ](https://github.com/kekeblom)


###  Network Distributed File System


##  About


If you don't have a compiler installed, you can follow one of our installation
tutorials:


  * [ orb_slam_2_ros ](https://github.com/appliedAI-Initiative/orb_slam_2_ros) \- A ROS implementation of ORB_SLAM2.
  * [ orbslam-map-saving-extension ](https://github.com/TUMFTM/orbslam-map-saving-extension) \- In this extensions the map of ORB-features be saved to the disk as a reference for future runs along the same track.
  * [ dso ](https://github.com/JakobEngel/dso/) \- Direct Sparse Odometry.
  * [ viso2 ](https://github.com/srv/viso2) \- A ROS wrapper for libviso2, a library for visual odometry.
  * [ xivo ](https://github.com/ucla-vision/xivo) \- X Inertial-aided Visual Odometry.
  * [ rovio ](https://github.com/ethz-asl/rovio) \- Robust Visual Inertial Odometry Framework.
  * [ LSD-SLAM ](https://github.com/tum-vision/lsd_slam) \- Large-Scale Direct Monocular SLAM is a real-time monocular SLAM.
  * [ CubeSLAM and ORB SLAM ](https://github.com/shichaoy/cube_slam) \- Monocular 3D Object Detection and SLAM Package of CubeSLAM and ORB SLAM.
  * [ VINS-Fusion ](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) \- A Robust and Versatile Multi-Sensor Visual-Inertial State Estimator.
  * [ openvslam ](https://github.com/xdspacelab/openvslam) \- OpenVSLAM: A Versatile Visual SLAM Framework.
  * [ basalt ](https://gitlab.com/VladyslavUsenko/basalt) \- Visual-Inertial Mapping with Non-Linear Factor Recovery.
  * [ Kimera ](https://github.com/MIT-SPARK/Kimera) \- A C++ library for real-time metric-semantic simultaneous localization and mapping, which uses camera images and inertial data to build a semantically annotated 3D mesh of the environment.
  * [ tagslam ](https://github.com/berndpfrommer/tagslam) \- A ROS-based package for Simultaneous Localization and Mapping using AprilTag fiducial markers.
  * [ LARVIO ](https://github.com/PetWorm/LARVIO) \- A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
  * [ fiducials ](https://github.com/UbiquityRobotics/fiducials) \- Simultaneous localization and mapping using fiducial markers.
  * [ open_vins ](https://github.com/rpng/open_vins) \- An open source platform for visual-inertial navigation research.
  * [ ORB_SLAM3 ](https://github.com/UZ-SLAMLab/ORB_SLAM3) \- ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM.
  * [ Atlas ](https://github.com/magicleap/Atlas) \- End-to-End 3D Scene Reconstruction from Posed Images.
  * [ vilib ](https://github.com/uzh-rpg/vilib) \- This library focuses on the front-end of VIO pipelines with CUDA.
  * [ hloc ](https://github.com/cvg/Hierarchical-Localization) \- A modular toolbox for state-of-the-art 6-DoF visual localization. It implements Hierarchical Localization, leveraging image retrieval and feature matching, and is fast, accurate, and scalable.
  * [ ESVO ](https://github.com/HKUST-Aerial-Robotics/ESVO) \- A novel pipeline for real-time visual odometry using a stereo event-based camera.
  * [ gradslam ](https://github.com/gradslam/gradslam) \- An open source differentiable dense SLAM library for PyTorch.


[ \+ 15 contributors ](/Ly0n/awesome-robotic-tooling/graphs/contributors)


[ Arshad Mehmood ](/@arshad.mehmood?source=post_page-----
14de44d58cc9--------------------------------)


##  Electronics and Mechanics


##  Frameworks and Stacks


###  Radar Processing


[ .github/  workflows  ](/Ly0n/awesome-robotic-
tooling/tree/main/.github/workflows "This path skips through empty
directories")


###  RViz


[ ![](https://github.com/Dronecode/dronecode-wordpress-
theme/raw/master/dronecode-salient-
child/images/dronecode_top_bar_logo_full.png) ](https://www.dronecode.org/)


    {
        "version": "0.2.0",
        "configurations": [
        {
            "name": "(gdb) Attach",
            "type": "cppdbg",
            "request": "attach",
            "processId": "${input:GetPID}",
            "program"  : "${input:GetPath}",
            "MIMode": "gdb",
            "sudo": true,
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description":  "Set Disassembly Flavor to Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ]
        }
        ],
        "inputs": [
            {
              "id": "GetPID",
              "type": "command",
              "command": "shellCommand.execute",
              "args": {
                "command": "pgrep gzserver",
                "description": "Select your target PID",
                "useFirstResult": true,
              }
            },
            {
                "id": "GetPath",


  VSCode and Docker

First, I’m going to assume you already have [ vscode
](https://code.visualstudio.com/) and [ docker
](https://docs.docker.com/install/linux/docker-ce/ubuntu/) installed. If not,
check out my installation instructions [ here ](/articles/docker-development)
.

Ok, so now that you have Docker and VSCode installed, let’s add some [ ros2
](https://docs.ros.org/) !


Using file creation:


**macOS** :


1 Like


[ docs.px4.io ](https://docs.px4.io/main/en/dev_setup/vscode.html)


There are situations when the problematic code is in the initialization calls
and cause crash or passes to quickly even before debugger given chance to
attach. In this situation, either can run gazebo under gdb or put a temporary
delay via sleep in startup routines to cause plugin to wait for debugger to
attach. This wait can end either using a variable value set or using a temp
file check.


[ rdehart  ](https://discuss.px4.io/u/rdehart) November 21, 2022, 3:41pm  3


  C++

C++ requires the docker container to be set up properly for gdb. The
development image and devcontainer.json file have these set up for you
already.

Add the following configuration to .vscode/launch.json

    {
      "name": "(gdb) Launch",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/install/${input:package}/lib/${input:package}/${input:program}",
      "args": [],
      "stopAtEntry": true,
      "cwd": "${workspaceFolder}",
      "environment": [],
      "externalConsole": false,
      "MIMode": "gdb",
      "setupCommands": [
        {
          "description": "Enable pretty-printing for gdb",
          "text": "-enable-pretty-printing",
          "ignoreFailures": true
        }
      ],
      "inputs": [
        {
          "id": "package",
          "type": "promptString",
          "description": "Package name"
        },
        {
          "id": "program",
          "type": "promptString",
          "description": "Program name"
        }
      ]
          }


[ ![Screenshot from 2022-11-21
20-16-08](https://discuss.px4.io/uploads/default/optimized/2X/5/5b7ae61ae60a03991e6ca71a686e152e5ebf7ed0_2_690x414.png)
Screenshot from 2022-11-21 20-16-08  1078×648 55.8 KB
](https://discuss.px4.io/uploads/default/original/2X/5/5b7ae61ae60a03991e6ca71a686e152e5ebf7ed0.png
"Screenshot from 2022-11-21 20-16-08")


I was following the debugging/VSCode instructions here:


###  Add Hello World source code


  What is ROS2

ROS2 is the next generation of software libraries for robotics development.
Even though ROS stands for Robot Operating System, it’s not an operating
system like Windows or Ubuntu, instead, it acts as a software development kit
for robotics.


[ ](/Ly0n/awesome-robotic-tooling/branches) [ ](/Ly0n/awesome-robotic-
tooling/tags)


  * [ Docs ](/docs)
  * [ Updates ](/updates)
  * [ Blog ](/blogs)
  * [ API ](/api)
  * [ Extensions ](https://marketplace.visualstudio.com/VSCode)
  * [ FAQ ](/docs/supporting/faq)
  * [ Learn ](/learn)
  * [ Search ](/Search)


Clear


2. Press the play button in the top right corner of the editor.


About


[ CONTRIBUTING.md ](/Ly0n/awesome-robotic-tooling/blob/main/CONTRIBUTING.md
"CONTRIBUTING.md")


[ Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink ](/)


[ 1,059 Commits  ](/Ly0n/awesome-robotic-tooling/commits/main/)


VSCode offers all standard debugger GUI features including Watch and Variable
window, Call Stack and Breakpoint set/remove options.


Uncomment this line and add custom packages and dependencies you want to install here.


  * Hello from Seattle.
  * [ Follow @code ](https://go.microsoft.com/fwlink/?LinkID=533687)
  *


> To stop reinventing the wheel you need to know about the wheel. This list is
> an attempt to show the variety of open and free tools in software and
> hardware development, which are useful in professional robotic development.


* [ GitHub Sponsors  Fund open source developers  ](/sponsors)


Nov 21, 2022


##  Create a Hello World App


Uncomment these lines to set an entry point for the container.


* [ ![Download VS Code](/assets/icons/download.svg) ![Download VS Code](/assets/icons/download-black.svg) Download  ](/Download)


  * [ owasp-threat-dragon-desktop ](https://github.com/mike-goodwin/owasp-threat-dragon-desktop) \- Threat Dragon is a free, open-source, cross-platform threat modeling application including system diagramming and a rule engine to auto-generate threats/mitigations.
  * [ launch_ros_sandbox ](https://github.com/ros-tooling/launch_ros_sandbox) \- Can define launch files running nodes in restrained environments, such as Docker containers or separate user accounts with limited privileges.
  * [ wolfssl ](https://github.com/wolfSSL/wolfssl) \- A small, fast, portable implementation of TLS/SSL for embedded devices to the cloud.
  * [ CANalyzat0r ](https://github.com/schutzwerk/CANalyzat0r) \- Security analysis toolkit for proprietary car protocols.
  * [ RSF ](https://github.com/aliasrobotics/RSF) \- Robot Security Framework (RSF) is a standardized methodology to perform security assessments in robotics.
  * [ How-to-Secure-A-Linux-Server ](https://github.com/imthenachoman/How-To-Secure-A-Linux-Server) \- An evolving how-to guide for securing a Linux server.
  * [ lynis ](https://github.com/CISOfy/lynis) \- Security auditing tool for Linux, macOS, and UNIX-based systems. Assists with compliance testing (HIPAA/ISO27001/PCI DSS) and system hardening.
  * [ OpenVPN ](https://github.com/OpenVPN/openvpn) \- An open source VPN daemon.
  * [ openfortivpn ](https://github.com/adrienverge/openfortivpn) \- A client for PPP+SSL VPN tunnel services and compatible with Fortinet VPNs.
  * [ WireGuard ](https://github.com/WireGuard/WireGuard) \- WireGuard is a novel VPN that runs inside the Linux Kernel and utilizes state-of-the-art cryptography.
  * [ ssh-auditor ](https://github.com/ncsa/ssh-auditor) \- Scans for weak ssh passwords on your network.
  * [ vulscan ](https://github.com/scipag/vulscan) \- Advanced vulnerability scanning with Nmap NSE.
  * [ nmap-vulners ](https://github.com/vulnersCom/nmap-vulners) \- NSE script based on Vulners.com API.
  * [ brutespray ](https://github.com/x90skysn3k/brutespray) \- Automatically attempts default creds on found services.
  * [ fail2ban ](https://github.com/fail2ban/fail2ban) \- Daemon to ban hosts that cause multiple authentication errors.
  * [ DependencyCheck ](https://github.com/jeremylong/DependencyCheck) \- A software composition analysis utility that detects publicly disclosed vulnerabilities in application dependencies.
  * [ Firejail ](https://github.com/netblue30/firejail) \- A SUID sandbox program that reduces the risk of security breaches by restricting the running environment of untrusted applications using Linux namespaces, seccomp-bpf and Linux capabilities.
  * [ RVD ](https://github.com/aliasrobotics/RVD) \- Robot Vulnerability Database. Community-contributed archive of robot vulnerabilities and weaknesses.
  * [ ros2_dds_security ](http://design.ros2.org/articles/ros2_dds_security.html) \- Adding security enhancements by defining a Service Plugin Interface (SPI) architecture, a set of builtin implementations of the SPIs, and the security model enforced by the SPIs.
  * [ Security-Enhanced Linux ](https://github.com/SELinuxProject/selinux) \- A Linux kernel security module that provides a mechanism for supporting access control security policies, including mandatory access controls (MAC).
  * [ OpenTitan ](https://github.com/lowRISC/opentitan) \- Will make the silicon Root of Trust design and implementation more transparent, trustworthy, and secure for enterprises, platform providers, and chip manufacturers. OpenTitan is administered by lowRISC CIC as a collaborative project to produce high quality, open IP for instantiation as a full-featured product.
  * [ bandit ](https://github.com/PyCQA/bandit) \- A tool designed to find common security issues in Python code.
  * [ hardening ](https://github.com/konstruktoid/hardening) \- A quick way to make a Ubuntu server a bit more secure.
  * [ Passbolt ](https://github.com/passbolt/passbolt_docker) \- Passbolt is a free and open source password manager that allows team members to store and share credentials securely.
  * [ gopass ](https://github.com/gopasspw/gopass) \- A password manager for the command line written in Go.
  * [ pass ](https://www.passwordstore.org/) \- The standard unix password manager.
  * [ Vault ](https://github.com/hashicorp/vault) \- A tool for securely accessing secrets. A secret is anything that you want to tightly control access to, such as API keys, passwords, certificates, and more.
  * [ legion ](https://github.com/GoVanguard/legion) \- An open source, easy-to-use, super-extensible and semi-automated network penetration testing framework that aids in discovery, reconnaissance and exploitation of information systems.
  * [ openscap ](https://github.com/OpenSCAP/openscap) \- The oscap program is a command line tool that allows users to load, scan, validate, edit, and export SCAP documents.


#  Debugging ROS2 Gazebo Plugins With VSCode


1. Make sure you have ` helloworld.cpp ` open so it is the active file in your editor.


Here is brief intro of gazebo plugins.


Steps:


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


[ include/  ros2_logging_fmt
](/facontidavide/ros2_logging_fmt/tree/master/include/ros2_logging_fmt "This
path skips through empty directories")


This should fix your problem.


"First argument to logging macros must be an rclcpp::Logger"  ); \


[ CMakeLists.txt ](/facontidavide/ros2_logging_fmt/blob/master/CMakeLists.txt
"CMakeLists.txt")


* To log files on disk (if local storage is available)


        }

        for (uint i = 0; i < joint_ids_.size(); ++i) {
          if (!dynamixel_workbench_.setPositionControlMode(joint_ids_[i], &log)) {
            RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
            return return_type::ERROR;
          }
        }
        RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Position control");
        control_mode_ = ControlMode::Position;

        if (torque_enabled) {
          enable_torque(true);
        }
      } else if (control_mode_ != ControlMode::Velocity && control_mode_ != ControlMode::Position) {
        RCLCPP_FATAL(
          rclcpp::get_logger(kDynamixelHardware), "Only position/velocity control are implemented");
        return return_type::ERROR;
      }

      return return_type::OK;
    }

    return_type DynamixelHardware::reset_command()
    {
      for (uint i = 0; i < joints_.size(); i++) {
        joints_[i].command.position = joints_[i].state.position;
        joints_[i].command.velocity = 0.0;
        joints_[i].command.effort = 0.0;
      }

      return return_type::OK;
    }

    }  // namespace dynamixel_hardware

    #include "pluginlib/class_list_macros.hpp"

    PLUGINLIB_EXPORT_CLASS(dynamixel_hardware::DynamixelHardware, hardware_interface::SystemInterface)


* ` ROS_LOG_DIR  ` \- Control the logging directory that is used for writing logging messages to disk (if that is enabled). If non-empty, use the exact directory as specified in this variable. If empty, use the contents of the ` ROS_HOME  ` environment variable to construct a path of the form ` $ROS_HOME/.log  ` . In all cases, the ` ~  ` character is expanded to the userâs HOME directory.


**Definition:** logger.hpp:63


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
function  |  The functions return value determines if the message should be
logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_ERROR_SKIPFIRST


* rcutils


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


I guess there is an issue with your ` package.xml ` file.
Could you please post the file contents of both ` package.xml ` and `
CMakeLists.txt ` files as a code block?


static_assert( \


##  Macros

---
#define  |  [ RCLCPP_LOG_MIN_SEVERITY_DEBUG
](logging_8hpp.html#a4c7bfa6a97d08a54e09a75a402b21432) 0
#define  |  [ RCLCPP_LOG_MIN_SEVERITY_INFO
](logging_8hpp.html#a91f47f4558136682f20911a7a639cb18) 1
#define  |  [ RCLCPP_LOG_MIN_SEVERITY_WARN
](logging_8hpp.html#a20956e073e9f5611b36ebe28f72d9c36) 2
#define  |  [ RCLCPP_LOG_MIN_SEVERITY_ERROR
](logging_8hpp.html#a481cffed58d0242790049d2aa5a341a0) 3
#define  |  [ RCLCPP_LOG_MIN_SEVERITY_FATAL
](logging_8hpp.html#a929cf373b5e25fcfa8bd1be4837ff809) 4
#define  |  [ RCLCPP_LOG_MIN_SEVERITY_NONE
](logging_8hpp.html#abf59794fdfb20526971288ae64069c88) 5
#define  |  [ RCLCPP_LOG_MIN_SEVERITY
](logging_8hpp.html#a7ae53ab23aab21454ba760b2a5b240d9) [
RCLCPP_LOG_MIN_SEVERITY_DEBUG
](logging_8hpp.html#a4c7bfa6a97d08a54e09a75a402b21432)

Logging macros for severity DEBUG.

#define  |  [ RCLCPP_DEBUG
](logging_8hpp.html#a44818c8a1fd292cd0e81759e956765d7) (logger, ...)
#define  |  [ RCLCPP_DEBUG_ONCE
](logging_8hpp.html#aa41a5d9968abcde2181decde5f87268a) (logger, ...)
#define  |  [ RCLCPP_DEBUG_EXPRESSION
](logging_8hpp.html#ae7f5710b8149302d52349fa013f1e866) (logger, expression,
...)
#define  |  [ RCLCPP_DEBUG_FUNCTION
](logging_8hpp.html#ab0d5c80bec310a4b333f6af7be97d856) (logger, function, ...)
#define  |  [ RCLCPP_DEBUG_SKIPFIRST
](logging_8hpp.html#af648d3e76a29dda2e06bf58fc2e3e862) (logger, ...)

Logging macros for severity INFO.

#define  |  [ RCLCPP_INFO
](logging_8hpp.html#aeb160b6dd1edb7273480560c1027b264) (logger, ...)
#define  |  [ RCLCPP_INFO_ONCE
](logging_8hpp.html#ac398a2db64fa466508754a6c4dc617c9) (logger, ...)
#define  |  [ RCLCPP_INFO_EXPRESSION
](logging_8hpp.html#a37ac7aacc60827ebc447884be1bc9fb7) (logger, expression,
...)
#define  |  [ RCLCPP_INFO_FUNCTION
](logging_8hpp.html#a9c78cf1d4d08c21ef49cf36e88d6062d) (logger, function, ...)
#define  |  [ RCLCPP_INFO_SKIPFIRST
](logging_8hpp.html#a84cde90f193ce2561ec9e5536c1c9507) (logger, ...)

Logging macros for severity WARN.

#define  |  [ RCLCPP_WARN
](logging_8hpp.html#a5d1ab3e35c046fd7bf3d5cb36484cea5) (logger, ...)
#define  |  [ RCLCPP_WARN_ONCE
](logging_8hpp.html#a4230e377f358350065a84a171afd3bcc) (logger, ...)
#define  |  [ RCLCPP_WARN_EXPRESSION
](logging_8hpp.html#a75d37efb8fd09db40a263b3259a3ffe4) (logger, expression,
...)
#define  |  [ RCLCPP_WARN_FUNCTION
](logging_8hpp.html#aa07fe4cca3c10834f8ce3952aec69fc2) (logger, function, ...)
#define  |  [ RCLCPP_WARN_SKIPFIRST


Parameters


  * [ Home ](/)
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  * [ FAQ/Guidelines ](/guidelines)
  * [ Terms of Service ](http://www.theconstructsim.com/terms_and_conditions/)
  * [ Privacy Policy ](http://www.theconstructsim.com/privacy_policy/)


* ` {time_as_nanoseconds}  ` \- The time in nanoseconds since the epoch.


      if (!dynamixel_workbench_.getSyncReadData(
            kPresentPositionVelocityCurrentIndex, ids.data(), ids.size(),
            control_items_[kPresentPositionItem]->address,
            control_items_[kPresentPositionItem]->data_length, positions.data(), &log)) {
        RCLCPP_ERROR(rclcpp::get_logger(kDynamixelHardware), "%s", log);
      }

      for (uint i = 0; i < ids.size(); i++) {
        joints_[i].state.position = dynamixel_workbench_.convertValue2Radian(ids[i], positions[i]);
        joints_[i].state.velocity = dynamixel_workbench_.convertValue2Velocity(ids[i], velocities[i]);
        joints_[i].state.effort = dynamixel_workbench_.convertValue2Current(currents[i]);
      }

      return return_type::OK;
    }

    return_type DynamixelHardware::write()
    {
      if (use_dummy_) {
        for (auto & joint : joints_) {
          joint.state.position = joint.command.position;
        }

        return return_type::OK;
      }

      std::vector<uint8_t> ids(info_.joints.size(), 0);
      std::vector<int32_t> commands(info_.joints.size(), 0);

      std::copy(joint_ids_.begin(), joint_ids_.end(), ids.begin());
      const char * log = nullptr;

      if (std::any_of(
            joints_.cbegin(), joints_.cend(), [](auto j) { return j.command.velocity != 0.0; })) {
        // Velocity control
        set_control_mode(ControlMode::Velocity);
        for (uint i = 0; i < ids.size(); i++) {
          commands[i] = dynamixel_workbench_.convertVelocity2Value(
            ids[i], static_cast<float>(joints_[i].command.velocity));
        }
        if (!dynamixel_workbench_.syncWrite(
              kGoalVelocityIndex, ids.data(), ids.size(), commands.data(), 1, &log)) {
          RCLCPP_ERROR(rclcpp::get_logger(kDynamixelHardware), "%s", log);
        }
        return return_type::OK;
      } else if (std::any_of(
                   joints_.cbegin(), joints_.cend(), [](auto j) { return j.command.effort != 0.0; })) {
        // Effort control
        RCLCPP_ERROR(rclcpp::get_logger(kDynamixelHardware), "Effort control is not implemented");
        return return_type::ERROR;
      }

      // Position control
      set_control_mode(ControlMode::Position);
      for (uint i = 0; i < ids.size(); i++) {
        commands[i] = dynamixel_workbench_.convertRadian2Value(
          ids[i], static_cast<float>(joints_[i].command.position));
      }
      if (!dynamixel_workbench_.syncWrite(
            kGoalPositionIndex, ids.data(), ids.size(), commands.data(), 1, &log)) {


    # Map fully qualified names to relative ones so the node's namespace can be prepended.
    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
    # https://github.com/ros/geometry2/issues/32
    # https://github.com/ros/robot_state_publisher/pull/30
    # TODO(orduno) Substitute with `PushNodeRemapping`
    #              https://github.com/ros2/launch_ros/issues/56
    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]


* ` skip_first  ` \- if True, output the message all but the first time this line is hit


logger.get_name(), \


The logging subsystem in ` rcl  ` uses ` rcutils  ` and ` rcl_logging_spdlog
` to provide the bulk of the ROS 2 logging services. When log messages come
in, ` rcl  ` decides where to send them. There are 3 main places that logging
messages can be delivered; an individual node may have any combination of them
enabled:


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
expression  |  The expression determining if the message should be logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_INFO_FUNCTION


function  , \


This commit does not belong to any branch on this repository, and may belong
to a fork outside of the repository.


RCUTILS_LOG_DEBUG_NAMED( \


> I don’t know if this ` email ` thing is the case and what is the root cause
> of this?


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
function  |  The functions return value determines if the message should be
logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_DEBUG_SKIPFIRST


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


**Definition:** logger.hpp:63


static_assert( \


Regards,
Girish


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_EXPRESSION  ` \- output the given C++ stream-style message only if the given expression is true


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM  ` \- output the given C++ stream-style message every time this line is hit


The image below shows the five main pieces to the logging subsystem and how
they interact.


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_FATAL


    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use simulation (Gazebo) clock if true',
    )


    * [ Actions  Automate any workflow  ](/features/actions)
    * [ Packages  Host and manage packages  ](/features/packages)
    * [ Security  Find and fix vulnerabilities  ](/features/security)
    * [ Codespaces  Instant dev environments  ](/features/codespaces)
    * [ Copilot  Write better code with AI  ](/features/copilot)
    * [ Code review  Manage code changes  ](/features/code-review)
    * [ Issues  Plan and track work  ](/features/issues)
    * [ Discussions  Collaborate outside of code  ](/features/discussions)


[ Branches  ](/facontidavide/ros2_logging_fmt/branches) [ Tags
](/facontidavide/ros2_logging_fmt/tags)


You can’t perform that action at this time.


Thank you so much [ @girishkumar.kannan ](/u/girishkumar.kannan)


Releases


* [ The ReadME Project  GitHub community articles  ](/readme)


#  Provide feedback


* ` {name}  ` \- The name of the logger (may be empty).


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


**Definition:** logger.hpp:63


[ PhongNguyen  ](https://get-help.theconstruct.ai/u/PhongNguyen) April 17,
2023, 11:17pm  1


Resources


Log a message with severity DEBUG.


Each of the above APIs takes an ` rclcpp::Logger  ` object as the first
argument. This can be pulled from the node API by calling ` node->get_logger()
` (recommended), or by constructing a stand-alone ` rclcpp::Logger  ` object.


Name


"First argument to logging macros must be an rclcpp::Logger"  ); \


static_assert( \


[ ![ROS 2 logging architecture](../_images/ros2_logging_architecture.png)
](../_images/ros2_logging_architecture.png)


` #include <type_traits> `
` #include " [ rclcpp/logger.hpp ](logger_8hpp_source.html) " `
` #include " [ rcutils/logging_macros.h
](http://docs.ros2.org/latest/api/rcutils/logging__macros_8h.html) " `


#define RCLCPP_LOG_MIN_SEVERITY_FATAL 4
---

##  ◆  RCLCPP_LOG_MIN_SEVERITY_NONE


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


Below is my ` package.xml ` code:


By Solution


#define RCLCPP_WARN_FUNCTION  |  (  |  |  logger,
---|---|---|---
|  |  |  function,
|  |  |  _..._
|  )  |  |

**Value:**


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_SKIPFIRST_THROTTLE  ` \- output the given C++ stream-style message no more than the given rate in integer milliseconds, but skip the first


logging.hpp File Reference


Parameters


[ 32  stars ](/facontidavide/ros2_logging_fmt/stargazers) [ 6  forks
](/facontidavide/ros2_logging_fmt/forks) [ Branches
](/facontidavide/ros2_logging_fmt/branches) [ Tags
](/facontidavide/ros2_logging_fmt/tags) [ Activity
](/facontidavide/ros2_logging_fmt/activity)


RCUTILS_LOG_ERROR_FUNCTION_NAMED( \


* Severity level


This is the main ROS 2 Python API which sits atop the ` rcl  ` API. In the
context of logging, ` rclpy  ` provides the ` logger.debug  ` -style
functions; see ` APIs  ` above for a complete list. When one of the `
logger.debug  ` functions runs, it checks the current severity level of the
node against the severity level of the macro. If the severity level of the
macro is greater than or equal to the node severity level, the message will be
formatted and output to all of the places that are currently configured.


* To the console via the ` rcutils  ` layer


RCUTILS_LOG_DEBUG_EXPRESSION_NAMED( \


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_ONCE  ` \- output the given C++ stream-style message only the first time this line is hit


Additional navigation options


* ` logger.{debug,info,warning,error,fatal}  ` \- output the given Python string to the logging infrastructure. The calls accept the following keyword args to control behavior:


* Configuration


###  rcutils  ï


#define RCLCPP_FATAL_FUNCTION  |  (  |  |  logger,
---|---|---|---
|  |  |  function,
|  |  |  _..._
|  )  |  |

**Value:**


logger.get_name(), \


    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info', description='log level'
    )


](logging_8hpp.html#a8ef48cea8bfd081e245472fc8e0b0b01) (logger, ...)

Logging macros for severity ERROR.

#define  |  [ RCLCPP_ERROR
](logging_8hpp.html#ad8f3687eda7312561768319e99cd4ca6) (logger, ...)
#define  |  [ RCLCPP_ERROR_ONCE
](logging_8hpp.html#ae168e15be2b6585591635d86f804edf0) (logger, ...)
#define  |  [ RCLCPP_ERROR_EXPRESSION
](logging_8hpp.html#ad66e0a90847314fea4d23f62dd66f19f) (logger, expression,
...)
#define  |  [ RCLCPP_ERROR_FUNCTION
](logging_8hpp.html#ae84a756bcd3690f7029c73761459dbff) (logger, function, ...)
#define  |  [ RCLCPP_ERROR_SKIPFIRST
](logging_8hpp.html#a39e84f751ee0aac1a1374f63ec360d0b) (logger, ...)

Logging macros for severity FATAL.

#define  |  [ RCLCPP_FATAL
](logging_8hpp.html#a28cf59074387c81ef082f3e774481e95) (logger, ...)
#define  |  [ RCLCPP_FATAL_ONCE
](logging_8hpp.html#a8b8f86b414402fb6774a3eb583e6aac0) (logger, ...)
#define  |  [ RCLCPP_FATAL_EXPRESSION
](logging_8hpp.html#ab336f65fd96f10a684f0e00936e1def5) (logger, expression,
...)
#define  |  [ RCLCPP_FATAL_FUNCTION
](logging_8hpp.html#ad8ebe75bf5dde6e861d033fd1bd34618) (logger, function, ...)
#define  |  [ RCLCPP_FATAL_SKIPFIRST
](logging_8hpp.html#aac6499b2d76eaa2b04894cf2c74b699b) (logger, ...)

##  Macro Definition Documentation


* ` ROS_HOME  ` \- Control the home directory that is used for various ROS files, including logging and config files. In the context of logging, this variable is used to construct a path to a directory for log files. If non-empty, use the contents of this variable for the ROS_HOME path. In all cases, the ` ~  ` character is expanded to the usersâs HOME directory.


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


[ Previous ](About-Different-Middleware-Vendors.html "About different ROS 2
DDS/RTPS vendors") [ Next  ](About-Quality-of-Service-Settings.html "About
Quality of Service settings")


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_INFO_EXPRESSION


    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1'
    )


[ Star  ](/login?return_to=%2Ffacontidavide%2Fros2_logging_fmt)


**Definition:** logger.hpp:63


#define RCLCPP_WARN  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


* Logging subsystem design