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 C++ and Python library for forward and inverse kinematics of the Fanuc CRX collaborative robot series, with a MoveIt 2 kinematics plugin.
Patchwork++ is a fast, robust, self-adaptive algorithm that segments the ground from 3D point clouds, available as C++, Python, and ROS2 packages.
A ROS 2 tool that extracts camera images from a rosbag2 recording and saves them as JPEG files. It handles both raw and compressed image messages.
FlexBE is a behavior engine that coordinates a robot's capabilities to solve complex tasks, modeling behaviors as hierarchical state machines for ROS 2.
LemLib is an open-source PROS template for VEX V5 robots that provides odometry, path following, and motion algorithms for tank-drive robots.
A ROS package of tools for defining static ROS tf transforms, with rviz extensions and command-line utilities for setting them up.
MPlib is a lightweight Python package for robot motion planning that works without ROS and is quick to set up. It covers most manipulation planning needs in a few lines of code.
An RViz plugin that shows satellite map tiles at the position given by a GPS (NavSatFix) message. It is meant for visualizing a robot's location on an aerial map.
A ROS2 package that tracks deformable linear objects, such as cables or ropes, in real time from Intel RealSense RGB-D camera data.
A Python tool that reads the pose and button presses of Oculus Quest controllers, using an Android app installed on the headset and communicated with over ADB.
A rosbag2 storage plugin that lets ROS 2 read, inspect and replay legacy ROS 1 bag files (bag format version 2).
A Python library for loading, manipulating, validating, saving and visualizing URDF robot description files, offering a simpler alternative to other URDF parsers.
ROS 2 driver for SICK safeVisionary2 safety cameras, built as a lifecycle node that publishes the camera's data topics.
A C++ asynchronous HTTP web server built on Boost.Asio, which can also handle WebSocket upgrade requests. It is a fork of an earlier GT-RAIL package.
A C++ package that converts robot descriptions from URDF into KDL, the Kinematics and Dynamics Library's tree representation.
A ROS 2 command line tool that converts image topics recorded in rosbag2 bags into video files. It can be installed from apt or built from source in a colcon workspace.
A ROS 2 node that uses ROS 2 as a message bus to dispatch events, built on the python-eventdispatch library. It is meant for robotics use cases.
KISS-ICP is a LiDAR odometry pipeline that estimates motion from LiDAR scans and is meant to work on most cases without tuning parameters.
Python tools for ROS 2 that capture a specification model of a workspace's packages and a deployment model of a running ROS system, for documentation and model-based engineering.
A benchmark suite of physics-based CartPole and Quadrotor Gym environments built on PyBullet, with symbolic CasADi dynamics, for learning-based control and reinforcement learning research.
A ROS 2 bridge that relays ROS communication between different ROS domain IDs, configured by YAML, launch arguments, or a C++ library.
A lightweight ROS package and Python library that converts between Python dictionaries or JSON and ROS messages, in both directions.
A C++ SDK for receiving and parsing point cloud data from Hesai LiDAR sensors, online over the network or offline from PCAP files.
ROS 2 command-line tools for viewing, measuring, and converting event camera messages recorded or streamed from event sensors.
Projects 505–528 of 646