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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ROSA is an AI assistant built on LangChain that lets people interact with ROS 1 and ROS 2 robotic systems through natural language queries.
A ROS 2 package providing a ros2_control hardware interface for driving Dynamixel servo motors, plus the dynamixel_interfaces package with its custom messages.
A LiDAR-inertial-visual odometry and mapping system for real-time 3D reconstruction and robot localization, aimed at severely degraded environments.
A set of ROS 2 drivers for UDP and serial transport, built mostly on the standalone ASIO library. It also includes a generic IO context for networking applications.
A ROS 2 driver that publishes images from V4L USB cameras as ROS topics. It is built on V4L devices rather than generic UVC.
An Arduino library for Adafruit's 16-channel PWM and servo driver boards, which control servos and LEDs over I2C.
A ROS 1 and ROS 2 toolbox for target-based calibration of multi-sensor setups, covering camera, LiDAR and reference sensors. It targets complex systems such as large offroad robots.
VRX is a Gazebo-based simulation environment for unmanned surface vehicles in marine settings, with arenas and tasks modeled on RobotX competitions and a description of the WAM-V platform.
ODrive is open-source motor-driver firmware and a Python tool library for accurately driving inexpensive brushless motors in robotics projects. The v3.x line is no longer actively developed.
A set of ROS message definitions for unifying computer vision and object detection outputs across pipelines, covering classifiers and detectors in 2D and 3D.
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.
A C++ toolbox for formulating and solving nonlinear optimal control problems, aimed at real-time Model Predictive Control (MPC) for robotics.
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.
Flight software, simulator and tools for NASA's Astrobee free-flying robots, which operate inside the International Space Station. Built mainly in C++ on ROS.
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 network bridge that passes messages and services between ROS 1 and ROS 2 so nodes from both systems can talk to each other.
OSQP is a numerical solver for quadratic programs: minimizing a quadratic objective subject to linear constraints. It is built for solving such optimization problems.
A reinforcement learning toolkit for training and deploying motion control policies on Unitree robots such as Go2, H1, H1_2 and G1. It covers training, playback, simulation and real-robot deployment.
A training environment built on NVIDIA Isaac Gym for teaching legged robots, such as ANYmal, to walk over rough terrain with sim-to-real transfer features.
A C++ motion control framework for the Qinglong humanoid robot, combining MPC and WBC, runnable in the MuJoCo simulator with walking, jumping and blind obstacle stepping examples.
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.
A decentralized, asynchronous planner that lets a swarm of quadrotors navigate unknown, obstacle-rich scenes using only onboard resources.
A model-based control stack for legged robots combining nonlinear MPC and whole-body control, built on OCS2 and ros-control for ROS. It is no longer supported by its authors.
Projects 241–264 of 276