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Software

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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Difficulty

How hard it is to get running, chosen by a person at Robotheca for 276 of 276 software.

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Commercial use: its licenses together (code and assets) allow it, as Robotheca reads them. Maintained: a commit in the last 12 months, not archived or discontinued.

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45 projects of 276

Page 1 of 2 · newest commit first

    • Software
    • Navigation and mapping

    A set of ROS 2 packages that wrap MRPT localization, sensor pipeline, and navigation functionality for mobile robots.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    MRPT is a long-running C++ framework for mobile robotics covering SLAM, geometry, probabilistic estimation, maps, sensors, visualization and navigation, with Python bindings.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Advanced
    Status
    Active
    • Software
    • Navigation and mapping

    Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems, mainly nonlinear least squares and general unconstrained optimization.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Advanced
    Status
    Active
    • Software
    • Navigation and mapping

    A Python package with command-line tools and a small library for evaluating and comparing trajectory output from odometry and SLAM algorithms.

    Code license
    GPL-3.0-only
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A set of 2D SLAM tools for ROS 2 that builds, updates, saves and reloads maps as pose graphs, and localizes against them. Used in retail, warehouses, libraries and research.

    Code license
    LGPL-2.1-only
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    RTAB-Map is a library and standalone application for real-time appearance-based mapping and localization, used to build and reuse 3D maps from sensor data.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Advanced
    Status
    Active
    • Software
    • Navigation and mapping

    ROS 2 wrapper for RTAB-Map, a graph-based SLAM library that builds 3D maps from RGB-D, stereo or lidar data with appearance-based loop closure. Exports occupancy grids, point clouds or OctoMaps.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    Beluga is a C++17 library implementing Monte Carlo Localization algorithms, with a ROS wrapper that offers an AMCL-compatible node. It is built for robot localization.

    Code license
    Apache-2.0
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    RKO-LIO is a LiDAR-inertial odometry system that estimates a sensor's motion from LiDAR and IMU data, without sensor-specific modelling. It runs as a Python package or a ROS package.

    Code license
    MIT
    Commercial use
    Yes
    Difficulty
    Advanced
    Status
    Active
    • Software
    • Navigation and mapping

    EasyNavigation is a ROS 2 navigation system built to be representation-agnostic, modular and lightweight, offered as an alternative to stacks such as Nav2.

    Code license
    Apache-2.0
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A USB-based ROS 2 driver for u-blox GNSS receivers (ZED-F9P, ZED-F9R, ZED-X20P) that handles UBX messaging for high-precision DGNSS rover and base station setups.

    Code license
    Apache-2.0
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    GLIM is an extensible range-based 3D mapping framework that builds maps from multi-scan registration on factor graphs, usable with many kinds of range sensors.

    Code license
    MIT
    Commercial use
    Yes
    Difficulty
    Advanced
    Status
    Active
    • Software
    • Navigation and mapping

    A Python code collection and textbook of robotics algorithms, covering localization, mapping, SLAM, path planning, path tracking, arm and aerial navigation, and bipedal control.

    Code license
    MIT
    Commercial use
    Yes
    Difficulty
    Beginner
    Status
    Active
    • Software
    • Navigation and mapping

    A ROS 2 package of GPS message types and tools that reads GPS receivers through the GPSd daemon and publishes their fixes as ROS messages.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    Mapviz is a ROS-based 2D visualization tool with a plugin system similar to RViz, built for displaying two-dimensional data.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A header-only C++ library, with Python bindings, for fast and parallelized point cloud registration such as ICP, Point-to-Plane ICP, GICP and VGICP.

    Code license
    MIT
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A ROS 2 package that takes a robot from bare hardware to autonomous navigation, with Nav2, SLAM Toolbox and robot_localization pre-wired, and a Gazebo simulation using the same configs.

    Code license
    Apache-2.0
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A modular, map-agnostic navigation framework for ROS that offers action-based interfaces for path planning, control, and recovery, meant as a base for custom navigation systems.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Advanced
    Status
    Active
    • Software
    • Navigation and mapping

    A C++ library with Python bindings that plans complete coverage paths for autonomous agricultural vehicles over a field, including headlands, swaths and drivable turns.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A C++ ROS driver that reads NovAtel GPS/GNSS receivers over serial, TCP, UDP or PCAP files and turns their logs into ROS messages.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A ROS 2 toolset for handling 3D triangle meshes, with message definitions and RViz plugins to visualize, texture, annotate and label large environment meshes.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A ROS costmap layer that replaces the voxel grid with an OpenVDB-based 3D voxel representation, adding time-based voxel decay for navigation and mapping.

    Code license
    LGPL-2.1-only
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active
    • Software
    • Navigation and mapping

    A C++ library implementing the Iterative Closest Point algorithm for aligning point clouds, with a Python binding, used in robotics and computer vision.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Advanced
    Status
    Active
    • Software
    • Navigation and mapping

    ROS 1 and ROS 2 drivers, written in C++, for Septentrio GNSS and GNSS/INS receivers such as mosaic and AsteRx, supporting multiple connection types and message formats.

    Code license
    BSD-3-Clause
    Commercial use
    Yes
    Difficulty
    Intermediate
    Status
    Active

Projects 1–24 of 45

How Robotheca reads each entry

  • The code license comes from the project's license files at a pinned commit, never from a badge.
  • Maintenance comes from the newest commit: active within 90 days, maintained within 12 months, stale after that.
  • Nothing is hosted or run here: every page links to the project itself.