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 2 adapter that drives multi-finger robot hands through predefined grasp synergies, mapping one normalized coordinate onto joint trajectories.
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.
A plugin that connects QML user interfaces to ROS 2, letting QML apps log, publish, subscribe, call services and actions, and look up transforms.
GStreamer elements that bridge ROS 2 image topics with GStreamer pipelines, streaming raw and compressed images in both directions.
Open3D is an open-source library for building software that processes 3D data, offering data structures and algorithms in both C++ and Python. Its backend is optimized and parallelized.
ROS 2 controllers that forward cartesian twist commands and reset hardware faults, prefixed with picknik_ for later contribution to ros2_controllers.
A Python library for communicating with and controlling Crazyflie quadcopters through Python scripts. It also serves as the communication backend for the cfclient application.
Packages for working with URDF, the XML format that describes robot models. Documentation is kept on the ROS wiki.
A C++ library and command-line tool for CAN bus communication with OpenArm robot hardware, driving Damiao motors over CAN or CAN-FD interfaces on Linux.
A nonlinear model predictive controller for ROS 2 that solves optimal control with an SQP scheme over ProxQP, packaged as a reusable core and a Nav2 controller plugin.
A command-line toolkit that turns drone photos into point clouds, 3D textured models, orthophotos and elevation models. Runs on Windows, Mac and Linux.
A replacement for the ROS2 launch system, offering simpler Python launchfiles and a TOML-based launch format for starting and configuring robot software.
GELLO is a low-cost, intuitive teleoperation framework that lets a person control robot manipulator arms using a scaled-down leader arm. It covers several arms, including the I2RT YAM.
A C++ companion library with utilities for Robot Raconteur services, device info parsing, Eigen conversions, and standard service types.
Sugarcoat is a Python orchestration layer for event-driven ROS 2 systems, part of the EMOS ecosystem. It helps build lifecycle-managed components and combine them into self-healing systems.
Pink is a Python library for differential inverse kinematics of articulated robot models, built on Pinocchio. It solves weighted tasks as a quadratic program.
A ROS 2 logging backend that sends log messages through the system syslog interface to rsyslog, for file storage or forwarding to tools like Fluent Bit.
A ROS console log viewer, an alternative to rqt_console, built to stay responsive when handling heavy log output from large systems.
ROS 2 driver stack for F1TENTH race cars, handling onboard sensors, motor control and navigation commands. The branch is under development for migration to ROS 2.
A ROS 2 software stack for controlling Bitcraze Crazyflie multirotor robots, including swarms of them.
A Python library that helps load parameters inside ROS launch files. It is intended for use in launch scripts rather than as a standalone program.
A CUDA-accelerated library for robot motion generation, covering kinematics, collision checking, trajectory optimization and GPU perception. It targets arms up to high-DoF humanoids.
ROS packages for the Raph Rover robot. They are meant to run only on the real robot, not in simulation.
A framework for defining and planning multi-step robot actions by composing subtasks from MoveIt planning stages. It is built on MoveIt and passes solutions between stages through the PlanningScene.
Projects 337–360 of 646