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 terminal launcher and process monitor for ROS 2 that runs existing launch files through the native launch engine and manages their processes interactively.
A ROS 2 Humble package with three utilities for capturing point clouds and converting or reframing PLY and XYZ point-cloud files between coordinate frames.
A Python library giving simple access to GPIO components such as LEDs, buttons and sensors on Raspberry Pi. It offers an easy entry point to physical computing.
RSL is a collection of C++17 utilities for ROS projects, offering helpers such as thread-safe queues, static containers, and randomness tools.
A framework on NVIDIA Isaac Sim for simulating multirotor vehicle dynamics, with interfaces for PX4 and ArduPilot and a custom Python control interface.
A ROS node that transforms messages of many types into a different coordinate frame, so other nodes can use data in a frame they expect without changing their code.
A ROS2 composable node that merges any number of 2D LiDAR scans into one LaserScan, using approximate-time synchronization and parallel ray projection.
A ROS 2 driver that reads data from and configures SBG Systems IMU, AHRS and INS sensors over serial or UDP using the sbgECom protocol.
A ROS 2 component node that bridges ROS messages to and from an MQTT broker, so ROS and non-ROS devices or robots can exchange messages over MQTT.
A Python and C++ library giving a ROS 1 style interface for reading and writing ROS 2 bag files, so code written for rosbag can be ported with few changes.
A toolkit that generates ROS 2 message definitions from Protobuf messages and provides C++ and Python conversion APIs between the two formats.
A set of common C++ utility libraries for ROS 2 nodes, covering parameters, logging, transforms, odometry and point clouds.
A ROS 2 package that connects Feetech servos to the ros2_control framework so they can be driven through standard controllers.
MoveIt is an open-source motion planning framework for ROS 1 used to build, prototype, and benchmark robot manipulation applications.
A simple C++ wrapper around the OSQP quadratic programming solver that exposes it through Eigen types. It is intended for C++ projects that need to solve QPs.
A ROS 2 package that encodes and decodes ROS images with FFmpeg (libav), including hardware-accelerated codecs such as H.264 and HEVC, meant to be used by image transport plugins.
A ROS package providing generic geometric shape and body definitions, plus routines for point containment and ray intersection on shapes and shape messages.
An Arduino library for driving stepper motors through A4988, DRV8825, DRV8834, DRV8880 and similar driver boards, or any two-pin DIR/STEP driver.
A ROS package that lets nodes publish and subscribe image topics over RTSP video streams, sending only a URL in-band instead of image data.
A C++ simulation library for marine robotics that pairs a physics engine with a rendering pipeline for underwater, ocean and atmosphere scenes. It can also serve as a general robot simulator.
A ROS toolkit for designing and creating predefined robot motions, with a node, an RQT GUI, and a JavaScript library for interfacing with it.
Phobos is a Blender add-on and Python CLI tool for building, editing, and exporting robot models in formats such as URDF, SDF, and SMURF for ROS, ROCK, MARS, and Gazebo.
robosuite is a modular simulation framework built on the MuJoCo physics engine for robot learning, with a suite of benchmark manipulation environments for reproducible research.
CANopenNode is an open-source ANSI C implementation of the CANopen protocol stack for embedded control systems built on CAN, usable with or without an RTOS.
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