Tool Directory

A comprehensive directory of tools mentioned across the ROS-RVFT guidelines. Each tool is linked to the guideline(s) where it is discussed. Use the filters below to narrow by category or ROS version.

All categories All ROS versions ROS 1 ROS 2

Tool	Category	Guideline(s)	ROS
ROSMonitoring Runtime verification framework for ROS with topic remapping-based monitors	Runtime Verification	CI3, I2, I4, PE1, SDB2	ROS 1, ROS 2
ROSRV Runtime verification framework for safety and security properties with access control	Runtime Verification	CI2, CI3, I4	ROS 1
RTAMT Runtime verification tool for Signal Temporal Logic with robustness semantics	Runtime Verification	SDB1	ROS 1, ROS 2
Ogma Generates runtime monitors from FRET specifications using the Copilot language	Runtime Verification	MTA2	ROS 2
Copilot Stream-based runtime verification language producing constant-time C99 monitors	Runtime Verification	MTA2	ROS 1, ROS 2
ROMoSu Runtime monitoring support using Esper Constraint Engine for ROS applications	Runtime Verification	CI3	ROS 1, ROS 2
Overseer Multi-robot monitoring infrastructure combining Nagios and ros/diagnostics	Runtime Verification	AR1, AR2	ROS 1
Nagios General-purpose open-source monitoring tool for collecting and visualizing runtime data	Runtime Verification	AR1	ROS 1, ROS 2
ros2_tracing Low-overhead tracing tool for ROS 2 systems for performance analysis	Runtime Verification	PE1	ROS 2
Autoware Perf Framework for tracing and calculating response time and latency in ROS 2 applications	Runtime Verification	CI1	ROS 2
PerceMon Runtime verification tool for spatio-temporal specifications on perception systems	Runtime Verification	SDB3	ROS 1, ROS 2
message_filters ROS message filter for synchronizing messages by timestamps	Runtime Verification	CD2	ROS 1, ROS 2
ros2-picas Priority-aware scheduling algorithm for ROS 2	Runtime Verification	CD2	ROS 2
ApexAI Performance Test Tool for benchmarking nominal performance of ROS 2 applications	Runtime Verification	PE1	ROS 2
FRET NASA tool for writing requirements in structured English that translates to temporal logic	Specification	SDB1, MTA2	ROS 2
Specification Patterns Collection of known recurrent patterns for temporal logic property specification	Specification	SDB1	ROS 1, ROS 2
GeoScenario Behavior tree-based DSL for scenario specification in autonomous driving	Specification	SDB3	ROS 1, ROS 2
SCENIC Probability-based programming language for specifying rare events in environment models	Specification	SDB3	ROS 1, ROS 2
RuBaSS Property definition DSL with time-aware rule definitions for safety monitoring	Specification	SDB2	ROS 1, ROS 2
Micro-ROS system modes Extension of ROS 2 lifecycle to embedded systems with hierarchical state machine modes	Specification	I1	ROS 2
HAROS Static analysis framework for ROS applications with property-based testing support	Code Analysis	SDB1, MTA2	ROS 1
Hypothesis Property-based testing framework for generating test cases from specifications	Testing	MTA2	ROS 1, ROS 2
rostest ROS framework for full integration testing across multiple nodes	Testing	MTA2	ROS 1
Mithra Unsupervised oracle learning for Cyber-Physical Systems using telemetry data	Testing	MTA2	ROS 1, ROS 2
VERIFAI Toolkit for design and analysis of AI-based systems supporting scenario generation	Testing	SDB3	ROS 1, ROS 2
RoboFuzz Fuzzing tool for ROS 2 using data type-aware message mutation	Fault Injection	MTA1	ROS 2
R2D2 ROS 2 fuzzer leveraging runtime callback traces as guidance	Fault Injection	MTA1	ROS 2
ROFER ROS fuzzer with dimension-level mutation and message-guided coverage metric	Fault Injection	MTA1	ROS 2
ros1_fuzzer API for ROS 1 message fuzzing with datatype strategies	Fault Injection	I3, MTA1	ROS 1
ros2_fuzzer Extension of ros1_fuzzer for ROS 2 with service-level fuzzing	Fault Injection	I3, MTA1	ROS 2
IM-FIT Mutation-based software fault injection tool for ROS applications	Fault Injection	I3, MTA1	ROS 1
camfitool ROS tool for injecting faults in images with a graphical interface	Fault Injection	MTA1	ROS 1
RosPenTo Penetration testing tool for ROS 1 with publisher/subscriber manipulation	Security Testing	MTA1	ROS 1
SROS2 ROS 2 security workgroup tool for analyzing and fixing security vulnerabilities	Security Testing	CI2	ROS 2
RVD Robotics Vulnerability Database by Alias Robotics	Security Testing	CI2	ROS 1, ROS 2
FAST-DDS Security DDS implementation with authentication, access control, encryption and logging	Security Testing	CI2	ROS 2
ROSploit Security tool for preventing ROS-based applications from malicious attackers	Security Testing	PE1	ROS 1, ROS 2
UPPAAL Tool suite for automatic verification of real-time systems using timed automata	Formal Verification	CD2, PE2, SDB1	ROS 1, ROS 2
UPPAAL Tron Model-based test execution engine based on UPPAAL for ROS applications	Formal Verification	PE2	ROS 1, ROS 2
rosbag Standard ROS package for recording and replaying message exchange	Logging	I2, SE1	ROS 1, ROS 2
ros/diagnostics Standard tooling for collecting and aggregating runtime data in ROS	Logging	AR1	ROS 1
AWS CloudWatch Logs AWS service for monitoring and filtering ROS application logs via rosout	Logging	I2	ROS 2
Robotic Black Box Isolated component for listening to data traffic with MongoDB logging	Logging	I2	ROS 1, ROS 2
warehouse_ros_mongo MongoDB backend for persistently recording states, scenes and messages	Logging	AR2	ROS 1, ROS 2
warehouse_ros_sqlite SQLite backend for persistently recording states, scenes and messages	Logging	AR2	ROS 1, ROS 2
Field Test Tool (FTT) Tool for logging, annotating and generating reports of field trials	Logging	AR2	ROS 1, ROS 2
Rerun.io Visualization tool for ROS bag data with perception algorithm datatypes	Logging	SE1	ROS 2
rclc_lifecycle Library for managing ROS 2 node lifecycle with finite state machines	Logging	I1	ROS 2
modes ROS 2 package providing lifecycle management for nodes	Logging	I1	ROS 2
Gazebo Open-source robotics simulator supporting headless mode	Simulation	SE2	ROS 1, ROS 2
MORSE Modular open robotic simulation engine supporting headless operation	Simulation	SE2	ROS 1, ROS 2
V-REP / CoppeliaSim Versatile robot simulator supporting headless mode for scalable testing	Simulation	SE2, SDB3	ROS 1, ROS 2
ARGOS Modular multi-engine simulator for multi-robot systems	Simulation	SE2	ROS 1, ROS 2
MVSim Lightweight simulator for real-time multi-vehicle scenarios	Simulation	SE2	ROS 1, ROS 2
CARLA Open-source urban driving simulator with ROS integration	Simulation	SDB3	ROS 1, ROS 2
OpenDaVINCI Middleware for autonomous driving systems with ROS interface	Simulation	SE2	ROS 1, ROS 2
CPSAML Language and code generation framework for digital twin based monitoring	Digital Twin	PE2	ROS 2
ROS model (RosTooling) Eclipse Ecore metamodels for creating, validating, and generating ROS models	Metamodeling	PE2	ROS 1, ROS 2
CARE Causal model-based diagnosis for configuration faults in ROS systems	Testing	AR1	ROS 1, ROS 2
Rason Multi-robot collaborative fault diagnosis using behavior trees	Testing	AR1	ROS 1, ROS 2
MAVROS Library for flight control with logical time synchronization support	Logging	CD2	ROS 2

No tools match the current filters.