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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RoboOS is an open-source embodied operating system that coordinates multiple robots through a hierarchical brain-and-cerebellum architecture.
A graphical tool for creating new ROS 2 packages and adding nodes to existing ones, so developers can skip manual setup and build errors.
Python analysis tools for traces produced by ros2_tracing, turning LTTng trace data into pandas DataFrames and data models for ROS 2 analysis.
B-Roll is a set of ROS 2 plugins and libraries for working with video data in rosbag2, letting mp4 video files be played back as image topics.
A ROS 2 package that receives sensor data streamed from an Arduino Nicla Vision board and republishes it as ROS topics. It is aimed at using the board inside ROS 2 systems.
Khronos is an online metric-semantic SLAM system that tracks both short-term dynamics and long-term changes in dynamic environments, building a spatio-temporal map of the scene.
OSQP is a numerical solver for quadratic programs: minimizing a quadratic objective subject to linear constraints. It is built for solving such optimization problems.
A Python library for reading event camera data recorded in ROS and ROS2 bags and decoding it into structured numpy arrays. It works with event_camera_msgs messages.
Road Runner is a Kotlin library for planning 2D paths and trajectories for mobile robots, designed for FTC robotics teams.
manif is a header-only C++11 library, with Python 3 wrappers, for Lie group computations in state estimation for robotics. It supplies Lie groups and their analytic Jacobians.
TWIST is a whole-body teleoperation system that lets a Unitree G1 humanoid imitate human motion captured from a person.
OpenRR is a Rust-based robotics platform for controlling real and simulated robots through abstract hardware interfaces. It is under heavy development.
A set of libraries, environment wrappers and examples for training robot manipulation policies with reinforcement learning, using demonstrations and human corrections.
A ROS 2 package that adds load balancing to ROS 2 services, so one service name can be served by several server instances.
A Python frontend for the ROS 2 launch system that lets launch files be written in Python with the same actions and substitutions as the XML and YAML frontends.
Urchin is a Python library for loading and handling URDF robot description files, forked from the unmaintained urdfpy. It can be installed from pip.
A ROS 2 driver that publishes images from Daheng Imaging VEN-U3 board-level cameras, with runtime parameter changes and optional undistortion.
A ROS filter that removes the robot's own body from point clouds and laser scans, so the robot does not appear as obstacles in its sensor data.
A reinforcement learning toolkit for training and deploying motion control policies on Unitree robots such as Go2, H1, H1_2 and G1. It covers training, playback, simulation and real-robot deployment.
A set of robot controllers for the ros2_control framework, built for Husarion robots.
A ROS2 package that connects Analog Devices IIO hardware to ROS2, exposing services to read and write IIO attributes and manage IIO buffers, with topics attachable to them.
A training environment built on NVIDIA Isaac Gym for teaching legged robots, such as ANYmal, to walk over rough terrain with sim-to-real transfer features.
An interactive application and framework for real-time predictive control of robots with MuJoCo, using shooting-based planners such as iLQG, Gradient Descent and Predictive Sampling.
A C++ motion control framework for the Qinglong humanoid robot, combining MPC and WBC, runnable in the MuJoCo simulator with walking, jumping and blind obstacle stepping examples.
Projects 601–624 of 646