You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.

Package Docs

ROS package documentation, that is to say documentation for specific packages you install via apt or some other tool, can be found in multiple places. Here is a brief list of where to look for specific ROS package documentation.

• Most ROS 2 packages have their package level documentation included in this index page.

• All ROS 2 package’s documentation is hosted alongside its information on the ROS Index. Searching for packages on ROS Index will yield their information such as released distributions, README.md files, URLs, and other important metadata.

Larger Packages

Larger packages like MoveIt, Nav2, and microROS, are given their own domain or subdomain on ros.org. Here is a short list.

• MoveIt

• Navigation2

• Control

• microROS (embedded systems)

API Documentation

You can find the API level documentation for the ROS client libraries in the Humble distribution using the links below:

• rclcpp - C++ client library

• rclcpp_lifecycle - C++ lifecycle library

• rclcpp_components - C++ components library

• rclcpp_action - C++ actions library

Adding Your Package to docs.ros.org

All released ROS 2 packages are automatically added to docs.ros.org and ROS Index. If you would like to enable or configure your own package please see: Documenting a ROS 2 package.