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 package of audio tools for capturing, playing back and transmitting sound, with separate branches for ROS1 and ROS2. Documentation lives on the ROS Wiki.
A C++ library of 2D geometry classes (vectors, rotations, transforms) modeled on tf2's 3D classes, with conversion to and from tf2 message types.
A ROS2 client for the VRPN protocol that receives pose data from motion capture systems such as VICON and OptiTrack and publishes it as ROS topics.
Pluginlib integration that lets BehaviorTree.CPP node plugins be registered and loaded automatically at runtime. It removes the need for a central list of plugins.
LCM is a set of libraries and tools for publish/subscribe message passing and automatic data marshalling in real-time, low-latency systems.
A bimanual robot manipulation platform with a simulator, generated demonstration data, and benchmark tasks for training and evaluating dual-arm policies.
An MCP server that lets large language models such as Claude, GPT, and Gemini talk two ways with ROS robots, without changing the robot's existing source code.
A Qt-based ROS 2 widget for starting, stopping, and monitoring ROS nodes and arbitrary shell processes, with its UI built from a YAML file.
A GPU-accelerated framework for training physically simulated digital humans and humanoid robots, aimed at animation, robotics, and reinforcement learning research.
A set of simulations of a differential drive robot with IMU, depth camera, stereo camera and 2D LiDAR, for Gazebo, MuJoCo and Isaac Sim, with ROS2 Nav2 and SLAM Toolbox support.
ROS 2 nodes that convert localization messages: one forwards pose messages to the tf tree, the other adds or replaces covariance in localization messages.
A minimal TurtleBot 3 and TurtleBot 4 simulation built on standard ROS-GZ tools, meant for use with nav2_bringup and user examples.
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.
A Python library that computes rigid-body dynamics for floating-base robots, with automatic differentiation across JAX, CasADi, PyTorch and NumPy backends sharing one interface.
YASMIN is a framework for building robot behaviors as finite state machines, available for ROS 2 in Python and C++. It also ships a visual editor, a web viewer and a command-line tool.
A C++ library with Python bindings that plans complete coverage paths for autonomous agricultural vehicles over a field, including headlands, swaths and drivable turns.
A C++ ROS driver that reads NovAtel GPS/GNSS receivers over serial, TCP, UDP or PCAP files and turns their logs into ROS messages.
A ROS 2 toolset for handling 3D triangle meshes, with message definitions and RViz plugins to visualize, texture, annotate and label large environment meshes.
A cross-platform desktop tool for configuring the INAV flight control system on multirotor and fixed-wing aircraft. It is distributed as a standalone application.
Deep Patch Visual Odometry and SLAM estimate camera trajectories and point clouds from video or image directories using learned patch-based tracking, with an optional loop-closing backend.
A modular ROS 2 library and toolkit for decision making, planning, control and simulation of automated vehicles, developed by DLR's Institute of Transportation Systems.
An inverse kinematics solver plugin for MoveIt 2, reimplementing the bio_ik approach. PickNik has deprecated it and seeks a community maintainer.
ROS 2 package to control Kinova Gen3 and Gen3 lite robot arms through the Kortex API, with URDF models, drivers, and MoveIt configurations.
A sensor fusion library that combines gyroscope, accelerometer and magnetometer data from an IMU into an orientation estimate, written in C with a Python package.
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