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 ROS2 package offering simple perception and grasping components, including a node that detects graspable objects from an RGBD camera and a standalone grasp planner for parallel jaw grippers.
Utilities for monitoring battery state in ROS with ros2_control. It publishes battery data and shows it as an RViz overlay.
ODrive is open-source motor-driver firmware and a Python tool library for accurately driving inexpensive brushless motors in robotics projects. The v3.x line is no longer actively developed.
A PyQt5 graphical app for tuning, configuring, plotting and monitoring BLDC and stepper motors driven by the Simple FOC library over a serial port.
A set of ROS message definitions for unifying computer vision and object detection outputs across pipelines, covering classifiers and detectors in 2D and 3D.
Hydra incrementally builds 3D scene graphs in real time, a layered map of a robot's surroundings from geometry to objects and rooms. It is research code tied to papers by MIT SPARK.
A C++ library with a ROS interface for managing two-dimensional grid maps that hold multiple data layers, designed for mobile robotic mapping and rough terrain navigation.
PathPlanner is a motion profile generator for FRC robots, used to design robot paths and autonomous routines with a desktop app and a robot-side library.
Klampt is an open-source cross-platform toolbox for robot modeling, simulation, planning, optimization and visualization, with strengths in manipulation and locomotion, usable from C++ and Python.
A command-line debugger for ROS 2 that audits, visualizes and validates the coordinate transform (TF) tree of a robot, checking it against REP 105 and REP 199.
A ROS 2 Jazzy package that computes 2D navigation paths with the Rapidly-exploring Random Tree (RRT) algorithm. It includes example and visualization nodes.
A toolkit for using Apple Vision Pro in robotics research, covering hand/head tracking streams, video/audio/simulation streaming back to the headset, and egocentric dataset recording.
A Python library for reading URDF robot description files, the XML format used to describe a robot's links and joints. It is a Python parser of URDF, built on lxml.
A Python toolkit that plugs large language, robot-control and vision models into existing robot software with a few lines of code. It aims at research and prototyping.
A C++ toolbox for formulating and solving nonlinear optimal control problems, aimed at real-time Model Predictive Control (MPC) for robotics.
OKVIS2 is a visual-inertial SLAM system that estimates a device's pose and builds a map from camera and IMU data, using keyframes and nonlinear optimisation with loop closure.
Plain C++ library for reconstructing images from event camera streams using a temporal and spatial filtering algorithm. It has no ROS dependencies.
TEASER++ is a C++ library, with Python and MATLAB bindings, that estimates the rigid transformation between two 3D point clouds. It stays accurate even when correspondences contain very many outliers.
A C++ decoder library, built for ROS1 and ROS2, that turns event camera data messages into per-event callbacks, with Python access through a separate package.
KISS-SLAM is a 3D LiDAR simultaneous localization and mapping system, aiming to be simple, robust and accurate. It is installed as a Python package.
Flight software, simulator and tools for NASA's Astrobee free-flying robots, which operate inside the International Space Station. Built mainly in C++ on ROS.
OpenVINS is an open-source visual-inertial state estimation system built on a filter-based MSCKF design, intended as a research platform for visual-inertial estimation.
A ROS 2 package that passes readings from miniature time-of-flight sensors to ROS 2 topics, including raw histogram data, without requiring sensor or firmware expertise.
A network bridge that passes messages and services between ROS 1 and ROS 2 so nodes from both systems can talk to each other.
Projects 577–600 of 646