A summary of the provided software packages is given in the following table:

Repository	Section	Package Name	Description
`catch_ros`	`general`	`catch_ros`	A small ROS wrapper around the Catch unit testing framework.
`dynalib`	`general`	`dynalib`	Library and tools (in particular `dynatool`) for communicating with arbitrary Dynamixel devices.
`nimbro`	`behaviour`	`behaviour_control`	Generic C++ implementation of a hierarchical behaviour architecture, the Behaviour Control Framework.
`nimbro`	`behaviour`	`state_controller`	Generic C++ implementation of a dynamic planning finite state machine architecture, the State Controller Library.
`nimbro`	`behaviour`	`walk_and_kick`	A behaviour for playing soccer.
`nimbro`	`cv`	`cv_matlab`	Matlab files for computer vision.
`nimbro`	`cv`	`vision_module`	Vision module for playing soccer, including localization.
`nimbro`	`demonstration`	`demo_msgs`	Common messages for demonstration nodes.
`nimbro`	`demonstration`	`hand_shaking_demo`	Hand shaking demonstration.
`nimbro`	`demonstration`	`sitting_demo`	Seated robot demonstration.
`nimbro`	`demonstration`	`standing_demo`	Standing robot demonstration.
`nimbro`	`general`	`launch`	Collection of various launch files for the software framework.
`nimbro`	`general`	`scripts`	Collection of various BASH and Python scripts for software framework integration.
`nimbro`	`hardware`	`cm730`	Interface classes and firmware for the CM730/CM740 microcontroller boards.
`nimbro`	`hardware`	`diagnostics`	Widget for rqt that displays diagnostic information.
`nimbro`	`hardware`	`nimbro_op_gazebo`	Package providing simulation of the robot in Gazebo.
`nimbro`	`hardware`	`nimbro_op_interface`	Hardware interface for the real robot.
`nimbro`	`hardware`	`nimbro_op_model`	URDF model of the robot.
`nimbro`	`localization`	`field_model`	Model of the soccer field, for standardisation across the framework.
`nimbro`	`localization`	`loc_display`	RViz visualisation plugin to display the soccer field.
`nimbro`	`motion`	`cap_gait`	Capture step gait plugin to the `gait` motion module.
`nimbro`	`motion`	`fall_protection`	Fall protection motion module.
`nimbro`	`motion`	`gait`	Generic gait motion module that uses gait engines via a modular plugin scheme.
`nimbro`	`motion`	`gait_msgs`	ROS messages and services used by the gait.
`nimbro`	`motion`	`head_control`	Head control motion module.
`nimbro`	`motion`	`limb_control`	Limb control motion module for common motions.
`nimbro`	`motion`	`motion_player`	Keyframe motion player motion module.
`nimbro`	`tools`	`bench_vis`	RQT-based visualisation for soccer robots during games.
`nimbro`	`tools`	`control_widget`	Widget for rqt with a number of buttons for common control actions.
`nimbro`	`tools`	`hash_library`	Collection of hashing libraries.
`nimbro`	`tools`	`led_widget`	Widget for rqt that displays current LED states and allows button presses.
`nimbro`	`tools`	`nimbro_relay`	Custom ROS topic relay node.
`nimbro`	`tools`	`nimbro_utils`	Utilities for performing common calculations, implementing common filters, and so on.
`nimbro`	`tools`	`rcup_game_controller`	Node that listens to the RoboCup game controller.
`nimbro`	`tools`	`rosbag`	Improved version of the ROS-native `rosbag` utility.
`nimbro`	`tools`	`rqt_brviz`	Customised version of the ROS-native `rqt_rviz` package.
`nimbro`	`tools`	`test_utilities`	Utilities for writing unit tests.
`nimbro`	`tools`	`tf_tools`	Utilities related to TF transforms and listeners.
`nimbro`	`tools`	`trajectory_editor`	Trajectory editor for designing keyframe motions.
`nimbro`	`tools`	`walk_control`	Widget for rqt for publishing manual gait commands for test purposes.
`nimbro_config_server`	`general`	`config_server`	The configuration server for management and dynamic control of flexible software parameters.
`nimbro_config_server`	`general`	`parameter_tuner`	Widget for rqt for manual modification of configuration server parameters.
`nimbro_config_server`	`general`	`remote_tuner`	Parameter tuner for the configuration server tweaked for remote connections.
`nimbro_config_server`	`general`	`tf_tuner`	Publisher of arbitrary configurable tf transforms for tuning purposes.
`nimbro_network`	`general`	`nimbro_cam_transport`	NimbRo network transport of camera images.
`nimbro_network`	`general`	`nimbro_log_transport`	NimbRo network transport of ROS logs.
`nimbro_network`	`general`	`nimbro_service_transport`	NimbRo network transport of ROS service calls.
`nimbro_network`	`general`	`nimbro_topic_transport`	NimbRo network transport of ROS topics.
`nimbro_network`	`general`	`tf_throttle`	NimbRo network transport of TF messages, sampled at fixed intervals to reduce bandwidth.
`nimbro_robotcontrol`	`contrib`	`rbdl`	Import of the RBDL library with tweaks.
`nimbro_robotcontrol`	`hardware`	`robotcontrol`	The main robot control node (includes many utilities).
`nimbro_robotcontrol`	`hardware`	`rviz_dynamics`	RViz visualisation plugin for showing dynamics information (e.g. torque display).
`nimbro_robotcontrol`	`hardware`	`servomodel`	A feed-forward model to improve control of the servos.
`nimbro_robotcontrol`	`hardware`	`timer`	Wrapper classes for high performance timer functionality.
`nimbro_robotcontrol`	`util`	`rc_utils`	Generic robotcontrol utilities.
`nimbro_robotcontrol`	`util`	`rot_conv`	Rotation representation conversion library.
`nimbro_vis`	`contrib`	`rqt`	Import of rqt with tweaks.
`nimbro_vis`	`general`	`plot_msgs`	ROS messages and services used for plotting.
`nimbro_vis`	`general`	`plotter`	Widget for rqt that allows flexible plotting of data and events.
`nimbro_vis`	`general`	`rqt_log_viewer`	Widget for rqt that displays ROS messages from arbitrary nodes.
`nimbro_vis`	`general`	`rrlogger`	Configurable ROS topic and plot data background logger.
`nimbro_vis`	`general`	`timewarp`	Buffer and time transform node for ROS topics, in particular for the plotter and visualisation.
`nimbro_vis`	`general`	`vis_utils`	Visualisation utilities.
`rosmon`	`general`	`rosmon`	ROS node launch and monitor daemon.