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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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.
A learning framework that trains robot visuomotor policies by generating actions with a diffusion model, with reproduced benchmarks in simulation and a real UR5 robot setup.
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 software framework for building and controlling quadruped robots, with a gait controller, simulation, and navigation support. It targets both new robot designs and developing control algorithms.
ACT is an imitation-learning policy that predicts action chunks with transformers, with simulated tasks for training and evaluating it in sim or on real robots.
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 It is no longer actively maintained.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.
Grbl is open-source firmware that turns an Arduino with an ATmega328P chip into a CNC motion controller for milling machines, running g-code.
A robot and simulation software project for MIT Biomimetics' Cheetah quadruped robots, with a shared dynamics library, robot control code, and a Qt-based simulator.
Projects 265–276 of 276