Packages

The ADI Robotics SDK includes the following ROS2 packages. Each package lives in its own repository and is linked here for its documentation and API reference.

Note

The package manifest used during Docker builds is docker/adi_ros2-humble.yml. This file follows the vcstool format and can be imported into any ROS2 workspace:

cd ~/ros2_ws/src
vcs import --recursive < adi_ros2-humble.yml

You can also extend it by adding your own repositories or pinning specific versions before importing.

Motor Controllers

Repository	Package Name	API Docs	Description	ROS2 Distros
tmcl_ros2	adi_tmcl	adi_tmcl API	Official ROS2 driver for ADI Trinamic motor controllers (TMC) using the Trinamic Motion Control Language (TMCL) protocol over USB/UART.	Humble ✅
adi_tmc_coe_ros2	adi_tmc_coe / adi_tmc_coe_core / adi_tmc_coe_interfaces	adi_tmc_coe_core API	Official ROS2 metapackage for Trinamic motor controllers with CANopen-over-EtherCAT (CoE) interface.	Humble ✅

Sensor Drivers

IIO Sensors

Repository	Package Name	API Docs	Description	ROS2 Distros
iio_ros2	adi_iio	adi_iio API	ROS2 interface for LibIIO-compatible ADI devices. Provides services to read and write IIO attributes, manage IIO buffers, and attach ROS2 topics to device channels. Compatible with any IIO-based ADI sensor.	Humble ✅

IMU

Repository	Package Name	API Docs	Description	ROS2 Distros
imu_ros2	adi_imu	adi_imu API	Precision MEMS IMU driver for the ADIS16xxx family. Publishes sensor_msgs/Imu topics from factory-calibrated gyroscopes and accelerometers. Supports SPI and UART interfaces.	Humble ✅
adrd2121_imu_ros2	adrd2121_imu	adrd2121_imu API	High-speed asynchronous IMU sampling driver for the EVAL-ADRD2121-EBZ evaluation board. Supports ADIS16470 and ADIS16500 sensors. Adapted from the ROS1 adrd2121_imu_ros package.	Humble ✅

3D Time-of-Flight

Repository	Package Name	API Docs	Description	ROS2 Distros
adi_3dtof_adtf31xx	adi_3dtof_adtf31xx	adi_3dtof_adtf31xx API	ROS2 driver for the ADTF3175D 3D Time-of-Flight sensor. Captures Depth and AB frames from the sensor and publishes them as ROS2 topics.	Humble ✅
adi_3dtof_floor_detector	adi_3dtof_floor_detector	adi_3dtof_floor_detector API	Floor detection algorithm using 3D ToF depth data. Segments each frame into floor and non-floor pixels. Used in robot navigation, autonomous driving, and obstacle avoidance. [1]	Humble ✅ (amd64 only)
adi_3dtof_safety_bubble_detector	adi_3dtof_safety_bubble_detector	adi_3dtof_safety_bubble_detector API	Safety bubble detection algorithm for AGV/AMR applications. Monitors a configurable virtual zone around the robot and raises alerts when objects enter the zone, preventing collisions. [1]	Humble ✅ (amd64 only)

Footnotes

[1] (1,2)

These algorithm packages have dependencies that cannot currently be resolved on ARM64 targets and are therefore excluded from ARM64 and NVIDIA Jetson (L4T) builds. The sensor driver (adi_3dtof_adtf31xx) is available on all platforms.