Open software that robots run on, with the license read from each project's license file, whether it is still maintained, and the robots on Robotheca that use it. A reference, not a download site: every entry links to its source.
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FluidNC is CNC machine firmware for the ESP32 controller, the next generation from the creators of Grbl_ESP32, with a built-in web UI for controlling machines.
acados is a C library with Python, MATLAB and Octave interfaces that provides fast embedded solvers for nonlinear optimal control, aimed at real-time MPC and MHE.
CasADi is a tool for numerical optimization and algorithmic differentiation.
RoboPlan is an experimental C++ robot motion planning library built on Pinocchio, offering inverse kinematics, RRT, and Cartesian path planners.
A Python toolbox for robotics research and education, covering manipulator kinematics and dynamics, mobile robot planning and localization, and simulation.
Coal is a C++ collision detection library, an extension of the Flexible Collision Library, with Python bindings. It computes collisions, distances and contacts between geometric shapes.
A software development kit that provides control functions for Dynamixel actuators using packet communication, aimed at Dynamixel actuators and Dynamixel-based platforms.
A Python library for moving robots through MoveIt 2 over ROS 2 actions and services, with examples for joint goals, poses, servoing, gripper control and planning scene edits.
grblHAL is a high-performance G-code motion controller firmware for CNC machines, a port and rewrite of grbl 1.1f for 32-bit microcontrollers.
ros2_control is a framework for ROS 2 that provides a generic control architecture for robots, along with the ros2_controllers package of ready-made controllers.
Python SDK for the AgileX PiPER robot arm that receives its CAN data frames and turns them into usable data types, for reading joint state and controlling the arm.
A headless industrial PLC runtime that executes IEC 61131-3 programs on standard computing hardware, controlled by the OpenPLC Editor v4 via a REST API.
Pinocchio is an open-source C++ library, with Python bindings, for fast rigid multi-body dynamics and kinematics computations. It is mainly aimed at robotics and also used in other fields.
ROS 2 package suite for controlling the CRANE+ V2 robot arm, including its model, Gazebo simulation, MoveIt 2 configuration, and C++ and Python examples.
A ROS 2 driver that connects ROS 2 to Universal Robots manipulators, with launch files for standalone use or use with MoveIt2. It is built on the Universal Robots Client Library.
An Arduino-compatible library implementing Field Oriented Control for controlling brushless DC and stepper motors across many microcontroller families.
A set of ROS 2 tools that can be called from a hard realtime thread without breaking its realtime behavior.
An Arduino library for controlling DYNAMIXEL servo motors through a serial interface. It provides the API for talking to DYNAMIXEL actuators from Arduino-compatible boards.
A Python library for differential inverse kinematics on robot models, built on the MuJoCo physics engine. It is a port of the Pink library.
MoveIt 2 is an open-source motion planning and manipulation framework for ROS 2, aimed at building commercial applications, prototyping designs, and benchmarking algorithms.
A C++ library and Python module that generates jerk-limited, time-optimal motion trajectories on the fly for robots and machines, reacting to sensor input in real time.
ROS 2 packages for the ROBOTIS OpenMANIPULATOR robot arm platform, providing interfaces and tools to control the robot, connect its sensors, and build physical AI applications.
Open-source designs for the moteus brushless servo actuator, covering firmware, PCBs and client software for several controller boards.
OMPL is an open-source sampling-based motion planning library offering over 40 planning algorithms across more than 20 state spaces. It can be extended with custom planners and state spaces.
Projects 1–24 of 44