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/ROS2 node that colors each pixel of an event camera image by the frequency at which its brightness changes, producing a frequency image for periodic signals.
A CircuitPython helper library for driving servo motors through Adafruit's PWM/Servo FeatherWing, Shield, Pi HAT and Bonnet kits.
Bluejay is open source digital ESC firmware for controlling brushless motors in multirotors, a successor to BLHeli_S. It targets ESCs with Busy Bee MCUs.
ROS plugins for PlotJuggler, adding ROS and ROS2 support to the plotting tool through external plugins such as a rosbag loader and a live topic subscriber.
Apollo is an open-source platform for accelerating the development, testing, and deployment of autonomous vehicles, organized into versioned releases from 1.0 up to 11.0.
A PyTorch library for differentiable, batched robot forward kinematics, Jacobians and damped least squares inverse kinematics, loading URDF, SDF and MJCF robot descriptions.
A parser for the Semantic Robot Description Format (SRDF), with C++ and Python parsers and a C++ writer for that format.
A ROS 2 package of launch files that loads a URDF or Xacro robot model and publishes its description, with an optional RViz display for model development.
A set of step-by-step tutorials for learning to write URDF robot models, from a visual model to movable joints, physical properties and Xacro cleanup.
A small ROS tool that collects a snapshot of a robot system's configuration into one YAML file, meant to be shared when debugging.
A ROS package that reconstructs log-intensity images from event camera streams using a temporal and spatial filtering algorithm (FIBAR), built on the fibar library.
Xacro is an XML macro language that expands macros into larger XML, making XML files shorter and easier to read.
Standard ROS 2 interface definitions (messages, services, and actions) for interacting with robotics simulators in a uniform way.
PyFlyt is a UAV flight simulator for testing reinforcement learning algorithms on drones and fixed-wing aircraft. It ships with Gymnasium and PettingZoo environments.
A C++ library and ROS 2 package implementing artificial potential field methods for path planning and shared control of robotic manipulators.
A Gazebo simulator plugin that connects ArduPilot SITL to Gazebo, with example vehicle models and worlds for quadcopters, delta wings and gimbals.
PyRoki is a Python toolkit for robot kinematic optimization, built on JAX, covering forward kinematics from URDF files and collision-aware cost design.
PROS is an open-source alternative operating system and kernel for the VEX V5 Brain, developed in C and C++ for building robot programs.
A C application that routes MAVLink messages between several endpoints such as serial links, UDP and TCP connections. It forwards each packet toward the systems it targets.
A meta-launcher for ROS 2 that builds and starts whole robot graphs from YAML or JSON config files, without hand-written Python launch files.
A ROS 2 node that serves a web dashboard showing live system statistics, a /rosout log viewer, and browsers for nodes and topics.
A ROS 2 node that records selected topics into a ReductStore instance, with YAML-based configuration. The project is in maintenance mode, with Reduct Bridge named as the actively developed successor.
A ROS 2 Control hardware interface plugin for the SO-ARM100 low-cost 5-DoF robotic manipulator, usable with a real robot over serial or in simulation over ROS topics.
ROSA is an AI assistant built on LangChain that lets people interact with ROS 1 and ROS 2 robotic systems through natural language queries.
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