ROS Python Wheels

Convert ROS packages into Python wheels that can be installed via pip. A select number of packages are hosted on PyPI.

Note: This repository is still a work in progress. Additional packages for additional Python versions and ROS distributions are continuing to be made available.

Benefits

Enable a first-class developer experience when working with ROS in Python projects:

• Easy Project Integration: To include The ROS Python Client (rclpy) in a Python project, simply add ros-rclpy[fastrtps] with its package repository to your pyproject.toml file.
• Enable Modern Python Tooling: Easily manage Python ROS dependencies using modern Python tools like uv, Poetry, and conda
• Portable: Allows ROS to be run on different Linux distributions.

Python Package Repositories

Packages are hosted at https://pypi.org/simple/

Available Packages

Open each package repository link in your browser to see the list of packages it contains. Currently builtin_interfaces, rclpy and their dependencies are uploaded. Please create a Github issue if you'd like to see another package built!

Example Usage

Below steps will install and run the ROS Python client for Kilted in a Python 3.12 environment.

# install rclpy and dependencies
pip install ros-rclpy[fastrtps]
# Run rclpy
python -c "import rclpy; rclpy.init()"

Building and Uploading Wheels

The following commands build a package and all of its dependencies as wheels, and then upload them to CloudSmith. Cloudsmith credentials are required in ~/.pypirc.

# Install this project
uv sync
# Build wheels
python -m ros_wheel_builder.main build --distro_name <DISTRO> --package_name <PACKAGE_NAME>
# Upload wheels
python -m ros_wheel_builder.upload --wheels_dir <WHEELS_DIR> --repository <pypi/testpypi/cloudsmith>