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 providing a ros2_control hardware interface for driving Dynamixel servo motors, plus the dynamixel_interfaces package with its custom messages.
An imitation learning benchmark for whole-body control, with humanoid, quadruped and musculoskeletal human environments built on MuJoCo and JAX, plus datasets of motion capture data.
A LiDAR-inertial-visual odometry and mapping system for real-time 3D reconstruction and robot localization, aimed at severely degraded environments.
ROS 2 description, MoveIt configuration and interface packages for Ewellix TLT motorized lifts, with RViz visualization and Gazebo simulation support.
A set of ROS 2 drivers for UDP and serial transport, built mostly on the standalone ASIO library. It also includes a generic IO context for networking applications.
A Gymnasium reinforcement-learning environment wrapper that lets agents drive simulated Donkey Car robots on several race tracks through the Donkey simulator.
A simplified ROS action server and client library for Python and C++, aimed at situations where only one goal is active at a time.
A ROS 2 driver that publishes images from V4L USB cameras as ROS topics. It is built on V4L devices rather than generic UVC.
An Arduino library for Adafruit's 16-channel PWM and servo driver boards, which control servos and LEDs over I2C.
ServoEasing is an Arduino library that interpolates servo movements between positions so they move smoothly instead of jumping.
A ROS 1 and ROS 2 toolbox for target-based calibration of multi-sensor setups, covering camera, LiDAR and reference sensors. It targets complex systems such as large offroad robots.
MAD-ICP is a LiDAR odometry pipeline that estimates a sensor's motion from point clouds, aiming for robust, real-time operation. It was accepted to RA-L 2024.
A code library accompanying the book Modern Robotics, offering educational functions for robot mechanics, planning, and control in Python, MATLAB, and Mathematica.
A ROS 2 driver that streams monitored parameters from an In-Situ Aqua TROLL multiparameter sonde over Modbus serial communication. It has been tested with the AT600 sonde.
A ROS 2 Python library that provides the rotation and quaternion conversion functions of ROS 1's tf transformations module, so existing code can be ported with a small import change.
A Rust tool for visualizing URDF robot description files in a 3D viewer, with keyboard and mouse controls for moving joints and an HTTP/JSON interface for setting and reading joint angles.
A ROS2 bridge that exposes CAN frames from a SocketCAN device as ROS2 topics, re-implemented from ROS1's socketcan_bridge.
An rviz plugin that renders Potree point clouds, large multi-resolution point clouds produced by the Potree Converter, inside the rviz visualizer.
A Python API for serial and socket communication with Elephant Robotics robots, used to control them. It supports the myCobot, MechArm, myPalletizer, ultraArm and Pro450 models.
RViz display plugins for visualizing octomap messages in ROS, used to show occupancy maps built with OctoMap in the RViz 3D viewer.
A set of rviz2 plugins for visualising human-related data, such as detected faces, bodies, skeletons and human TF frames. It is part of the ROS4HRI ecosystem.
A ROS 2 example package for driving Synapticon drives (SOMANET Node, Circulo, Integro) in position, velocity and torque modes over EtherCAT via the SOEM master.
VRX is a Gazebo-based simulation environment for unmanned surface vehicles in marine settings, with arenas and tasks modeled on RobotX competitions and a description of the WAM-V platform.
Open Teach is a teleoperation system that lets people control robot manipulators with a Meta Quest 3 VR headset, collecting demonstrations used to train dexterous manipulation policies.
Projects 553–576 of 646