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 package that builds GPU-accelerated elevation maps from point clouds, aimed at legged robot navigation and locomotion. It can also fuse semantic and RGB data into the map.
A deep learning visual SLAM system that estimates camera poses and builds maps from monocular, stereo, or RGB-D camera input. It is built for research and evaluation on standard datasets.
A Python library that retargets human hand motion onto robot hands using several optimization methods. It is aimed at teleoperation and post-processing human hand data for robot imitation.
A decentralized, asynchronous planner that lets a swarm of quadrotors navigate unknown, obstacle-rich scenes using only onboard resources.
A model-based control stack for legged robots combining nonlinear MPC and whole-body control, built on OCS2 and ros-control for ROS. It is no longer supported by its authors.
Kimera-VIO is a visual-inertial odometry pipeline that estimates a robot's state from stereo camera and IMU data, with an optional monocular mode. It is built for accurate real-time localization.
An Arduino-compatible flight controller firmware for stabilizing small VTOL and experimental aircraft, aimed at hobbyists, students, and rapid prototyping.
A learning framework that trains robot visuomotor policies by generating actions with a diffusion model, with reproduced benchmarks in simulation and a real UR5 robot setup.
FAST-LIO2 is a LiDAR-inertial odometry package that fuses LiDAR points with IMU data for robot navigation in fast-motion or cluttered environments.
A ROS software framework for building and controlling quadruped robots, with a gait controller, simulation, and navigation support. It targets both new robot designs and developing control algorithms.
A C++ library and sample programs for driving the CRANE-X7 arm robot and the Sciurus17 upper-body humanoid, both sold by RT Corporation.
Generic ROS action messages for controlling pan-tilt-zoom cameras and pan-tilt units, plus wrapper packages that expose vendor drivers through one common interface.
ACT is an imitation-learning policy that predicts action chunks with transformers, with simulated tasks for training and evaluating it in sim or on real robots.
A ROS driver for NovAtel OEM7 GNSS and SPAN receivers, used to bring their positioning data into ROS systems. Installable as a ROS binary package or built from source.
Cartographer is a system for real-time simultaneous localization and mapping (SLAM) in 2D and 3D, across multiple platforms and sensor setups. It is no longer actively maintained.
Code for teleoperating and recording demonstrations with the Mobile ALOHA bimanual mobile manipulation robot, forked from the ALOHA repo. Used to collect training data for imitation learning.
A multicopter trajectory optimizer built on the MINCO sparse trajectory representation, supporting nonlinear drag effects and user-defined state-input constraints.
A real-time lidar-inertial odometry package that fuses lidar scans, IMU data and optional GPS through factor-graph smoothing to estimate pose and build maps.
ORB-SLAM3 is a real-time SLAM library for building maps and tracking camera position using visual, visual-inertial, and multi-map methods.
VINS-Fusion is an optimization-based multi-sensor state estimator for self-localization of drones, cars, and AR/VR devices. It extends VINS-Mono to several camera and IMU setups.
Grbl is open-source firmware that turns an Arduino with an ATmega328P chip into a CNC motion controller for milling machines, running g-code.
A robot and simulation software project for MIT Biomimetics' Cheetah quadruped robots, with a shared dynamics library, robot control code, and a Qt-based simulator.
Projects 625–646 of 646