ROS 2 Humble desktop-full — Package Contents

This is the version used by the robotics team (ROS 2 Humble + Gazebo Fortress).

This document details what is included in the osrf/ros:humble-desktop-full Docker image, broken down by metapackage layer.

Layer hierarchy

ros-humble-desktop-full
├── ros-humble-desktop
│   └── ros-humble-ros-base
│       └── ros-humble-ros-core
├── ros-humble-perception
├── ros-humble-simulation
└── ros-humble-ros-ign-gazebo-demos

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ros-core

Dockerfile: osrf/docker_images → ros/humble/ubuntu/jammy/ros-core/Dockerfile Package definition: ros2/variants → ros_core/package.xml

Base image: ubuntu:jammy. Installs ros-humble-ros-core via apt.

• Build system: ament_cmake, ament_cmake_auto, ament_cmake_ros, ament_cmake_gtest, ament_cmake_gmock, ament_cmake_pytest, ament_index_cpp, ament_index_python, ament_lint_auto, ament_lint_common
• Client libraries: rclcpp, rclcpp_action, rclcpp_lifecycle, rclpy, rcl_lifecycle
• Interface generation: rosidl_default_generators, rosidl_default_runtime, common_interfaces
• Launch system: launch, launch_ros, launch_testing, launch_testing_ament_cmake, launch_testing_ros, launch_xml, launch_yaml, ros2launch
• CLI: ros2cli_common_extensions
• Plugins: class_loader, pluginlib
• Security: sros2, sros2_cmake
• Environment: ros_environment

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ros-base

Dockerfile: osrf/docker_images → ros/humble/ubuntu/jammy/ros-base/Dockerfile Package definition: ros2/variants → ros_base/package.xml

Base image: ros:humble-ros-core-jammy. Adds developer tooling via apt (not in package.xml) then installs ros-humble-ros-base.

Extra tooling installed by the Dockerfile (not in package.xml):

• build-essential, git
• python3-colcon-common-extensions, python3-colcon-mixin
• python3-rosdep, python3-vcstool
• rosdep initialized, colcon mixin/metadata configured

Package.xml exec_depends (adds on top of ros-core):

• rosbag2 — bag recording and playback
• geometry2 — tf2, tf2_ros, tf2_geometry_msgs, tf2_sensor_msgs
• kdl_parser — URDF to KDL kinematic tree parser
• urdf — URDF parser
• robot_state_publisher — publishes TF from URDF + joint states

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desktop

Dockerfile: osrf/docker_images → ros/humble/ubuntu/jammy/desktop/Dockerfile Package definition: ros2/variants → desktop/package.xml

Adds on top of ros-base:

• Visualization: rviz2, rviz_default_plugins, rviz_common
• GUI tools: rqt, rqt_common_plugins (graph, topic monitor, console, image viewer, etc.)
• Simulation toy: turtlesim
• Teleoperation: teleop_twist_keyboard, teleop_twist_joy, joy
• Utilities: angles, depthimage_to_laserscan, pcl_conversions, tlsf, tlsf_cpp
• Demo and example nodes:
  • demo_nodes_cpp, demo_nodes_py
  • action_tutorials_cpp, action_tutorials_py, action_tutorials_interfaces
  • composition, lifecycle
  • examples_rclcpp_*, examples_rclpy_*

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perception

Package definition: ros2/variants → perception/package.xml

Adds on top of ros-base:

• Image stack: image_common, image_pipeline, image_transport_plugins
• Laser processing: laser_filters, laser_geometry
• Point cloud: perception_pcl
• Computer vision: vision_opencv (cv_bridge + image_geometry, wrapping OpenCV)

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simulation

Package definition: ros2/variants → simulation/package.xml

Adds on top of ros-base:

• ros_ign_bridge — bidirectional ROS 2 ↔ Gazebo topic/service bridge
• ros_ign_gazebo — launch integration for Gazebo Fortress from ROS 2
• ros_ign_image — image transport between ROS 2 and Gazebo
• ros_ign_interfaces — shared custom message/service types
• All of the above vendor Gazebo Fortress (ign-gazebo 6.x)

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ros_ign_gazebo_demos

Added directly by desktop_full/package.xml (not via a named variant layer).

• Example launch files and worlds demonstrating ros_ign_gazebo integration

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What is NOT included

These are commonly needed but must be installed separately:

Package	Install
Navigation stack	ros-humble-navigation2
MoveIt2	ros-humble-moveit
SLAM Toolbox	ros-humble-slam-toolbox
Hardware drivers (cameras, lidars)	vendor-specific packages

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Where this information is recorded

Source	URL	What it contains
OSRF Docker image definitions	github.com/osrf/docker_images → ros/humble/ubuntu/jammy/*/Dockerfile	Exact apt packages installed per layer
ROS 2 variant metapackage definitions	github.com/ros2/variants → humble branch, */package.xml	Declared exec dependencies per variant
Gazebo vendor package	github.com/gazebosim/ros_gz → humble branch	Confirms Gazebo Fortress (ign-gazebo 6.x) is the vendored version
Docker Hub image tags	hub.docker.com/r/osrf/ros	Compressed image sizes per tag
REP-2001	ros.org/reps/rep-2001.html	Normative definition of what each variant must include