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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A ROS node that multiplexes several geometry_msgs/Twist velocity command topics into one output, choosing among them by priority. It is meant for robot teleoperation setups.
A GPU-accelerated C++ library for real-time 3D reconstruction, aimed at robotic applications. It can be used from Python, C++, or ROS2.
ROS 2 packages for Husarion Unmanned Ground Vehicles, enabling the Lynx and Panther robots to run on hardware or in simulation.
A ROS framework for live sensor fusion on robots, using nonlinear least squares optimization for tasks like state estimation, localization, mapping and calibration.
A ROS-based collection of packages and documentation for the TurtleBot3 small mobile robot platform, including its related drivers, simulations and applications.
Point-LIO is a lidar-inertial odometry and mapping system built for fast, aggressive motion, running on ROS with Livox and Velodyne or Ouster lidars.
An RViz plugin that shows satellite map tiles at the position given by a GPS (NavSatFix) message. It is meant for visualizing a robot's location on an aerial map.
KISS-ICP is a LiDAR odometry pipeline that estimates motion from LiDAR scans and is meant to work on most cases without tuning parameters.
A LiDAR-inertial-visual odometry and mapping system for real-time 3D reconstruction and robot localization, aimed at severely degraded environments.
Hydra incrementally builds 3D scene graphs in real time, a layered map of a robot's surroundings from geometry to objects and rooms. It is research code tied to papers by MIT SPARK.
A C++ library with a ROS interface for managing two-dimensional grid maps that hold multiple data layers, designed for mobile robotic mapping and rough terrain navigation.
TEASER++ is a C++ library, with Python and MATLAB bindings, that estimates the rigid transformation between two 3D point clouds. It stays accurate even when correspondences contain very many outliers.
OpenVINS is an open-source visual-inertial state estimation system built on a filter-based MSCKF design, intended as a research platform for visual-inertial estimation.
A ROS package that builds GPU-accelerated elevation maps from point clouds, aimed at legged robot navigation and locomotion. It can also fuse semantic and RGB data into the map.
Kimera-VIO is a visual-inertial odometry pipeline that estimates a robot's state from stereo camera and IMU data, with an optional monocular mode. It is built for accurate real-time localization.
FAST-LIO2 is a LiDAR-inertial odometry package that fuses LiDAR points with IMU data for robot navigation in fast-motion or cluttered environments.
A ROS driver for NovAtel OEM7 GNSS and SPAN receivers, used to bring their positioning data into ROS systems. Installable as a ROS binary package or built from source.
Cartographer is a system for real-time simultaneous localization and mapping (SLAM) in 2D and 3D, across multiple platforms and sensor setups. It is no longer actively maintained.
A real-time lidar-inertial odometry package that fuses lidar scans, IMU data and optional GPS through factor-graph smoothing to estimate pose and build maps.
ORB-SLAM3 is a real-time SLAM library for building maps and tracking camera position using visual, visual-inertial, and multi-map methods.
VINS-Fusion is an optimization-based multi-sensor state estimator for self-localization of drones, cars, and AR/VR devices. It extends VINS-Mono to several camera and IMU setups.
Projects 25–45 of 45