Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions.
ROS communications-related packages, including core client libraries (roscpp, rospy, roslisp) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).
A command-line tool for retrieving information about ROS packages available on the filesystem
Packages related to gathering, viewing, and analyzing diagnostics data from robots.
Pipes console_bridge output to rosconsole/rosout when console_bridge is used in a ROS-dependent package
Allows one to create "nodelets" -- ROS node-like entities that run within the same process so as to avoid IPC and serialization overhead
Allows you to publish the state of a robot (i.e the position of its base and all joints) via the "tf" transform library
Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.
A procedural python-based task execution framework with ROS integration.
ROS-independent library for dynamic class (i.e. plugin) introspection and loading from runtime libraries
Maintains a bond (i.e. heart beat ) between ROS nodes and provides feedback when the bond is broken
A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages.