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 package of composable nodes for redirecting, throttling, dropping, multiplexing, transforming and delaying ROS 2 topics at a meta level, without serializing the data.
A set of ROS 2 packages that collect diagnostic data from hardware drivers and robot hardware, publish it on the /diagnostics topic, and aggregate and analyze it for operators.
A lightweight, cross-platform library for handling keyboard input, with integration into ROS.
A ROS framework for live sensor fusion on robots, using nonlinear least squares optimization for tasks like state estimation, localization, mapping and calibration.
A ROS2 package collection from the TUW robotics lab, bundling helper classes, JSON import/export of tuw_msgs, RViz2 plugins, and a gamepad node.
A ROS 2 library for solving the inverse dynamics of serial manipulators, returning joint torques or dynamic matrices from joint positions, velocities and accelerations.
A ROS 2 driver that streams events and frames from Inilabs event-based cameras such as Davis and DvXplorer, using the libcaer library. It is an unofficial successor to the ROS 1 driver.
A ROS-based collection of packages and documentation for the TurtleBot3 small mobile robot platform, including its related drivers, simulations and applications.
Point-LIO is a lidar-inertial odometry and mapping system built for fast, aggressive motion, running on ROS with Livox and Velodyne or Ouster lidars.
A ROS 2 node that runs as an autonomous AI agent, talking to any OpenAI-compatible LLM endpoint while managing chat history, tool calls and runtime-loaded skills.
A ROS node that publishes sensor_msgs/Image messages read from a specified video file, letting recorded video stand in for a live camera.
A ROS 2 package that subscribes to a point cloud sensor topic and saves the incoming clouds to disk as .ply or .obj files.
A ROS 2 package that estimates the articulation angle between a mobile base and a cart hitched behind it, using an array of AprilTags on the cart and a rear-facing camera.
A Python library giving developers common abstractions for Controller Area Network (CAN) buses, with utilities to send and receive messages across many hardware backends.
ESP-Drone is an open-source quadcopter flight controller built on ESP32-series Wi-Fi chips, controlled from a phone app or gamepad. It targets STEM education and is ported from Crazyflie.
TRAC-IK is a ROS-based inverse kinematics solver for robot arms that handles joint limits better than KDL's default Jacobian-based solver.
An RQT plugin that publishes Twist or TwistStamped velocity commands from a GUI, intended for 2D navigation scenarios.
A terminal ncurses viewer for ROS rosout log messages, letting you filter, search and navigate logs live or from rosbag2 files.
synchros2 provides rclpy wrappers that let Python developers write synchronous, idiomatic ROS 2 code, aimed especially at programmers coming from ROS 1.
A Python helper class that makes writing ROS 2 launch files simpler for common cases like running nodes, robot_state_publisher, and namespaces, with Gazebo support.
A Python library for controlling UFACTORY xArm robot arms over network or serial connection, covering motion, settings, grippers, GPIO and force sensing.
ROS 2 driver and tools for SICK LiDAR and RADAR sensors, with a generic C/C++ and Python API usable without ROS. Runs on Linux and Windows.
An extension library for Isaac Lab that trains reinforcement learning locomotion policies for many legged, wheeled and humanoid robots in an isolated repository.
UMI is a handheld gripper and software pipeline for collecting robot manipulation demonstrations and training visuomotor policies from them, deployable on UR5 and ARX X5 arms.
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