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 Python toolbox for computer vision research and teaching, wrapping NumPy, OpenCV and Open3D behind an object-oriented image API with camera models and 3D vision tools.
A headless industrial PLC runtime that executes IEC 61131-3 programs on standard computing hardware, controlled by the OpenPLC Editor v4 via a REST API.
Open-source flight controller firmware for DIY multirotor drones, running on ESP32 and ESP32-S3 boards. It is built for hobbyists seeking a low-cost, high-performance controller.
A Rust framework for building real-time robotics and AI applications as dataflow graphs of nodes, with Python, Rust, C and C++ APIs and a CLI to run and monitor them.
Stable-Baselines3 is a set of reliable PyTorch implementations of reinforcement learning algorithms, meant as baselines for research and for building new projects.
A C++ library that lets ROS2 nodes subscribe to, publish, and call services or actions for message types unknown at compile time.
esmini is a minimalistic player for OpenSCENARIO XML traffic scenarios, built on OpenDRIVE road networks, meant for embedding in other applications and tools.
A Python and C++ library of multi-object tracking modules that work with axis-aligned or oriented bounding box detections from any detector, with a CLI for tracking, evaluation, and ReID workflows.
A set of projects, centered on the rclrs client library, that lets developers write ROS 2 applications in Rust.
A set of ROS 2 packages that connect ROS with the Gazebo simulator, covering message bridging, simulation launch, images and point clouds.
A C++ library of rigid-body dynamics and kinematics algorithms for control, estimation and simulation, aimed mainly at free-floating robots such as humanoids.
A ROS 2 middleware implementation that runs ROS 2 applications on the int2DDS DDS/RTPS middleware, selected through the RMW_IMPLEMENTATION environment variable.
A plugin that connects QML user interfaces to ROS 2, letting QML apps talk to ROS 2 topics, services, actions and transforms. Successor to the Qt5 version.
A ROS middleware that lets robots exchange messages over an underwater acoustic channel using the DESERT protocol stack, for submerged devices.
A suite of ROS 1 and ROS 2 packages with a graphical interface for discovering, synchronizing, monitoring and managing nodes across multiple hosts. It replaces the FKIE Multimaster.
ROS packages for OAK cameras from Luxonis, giving ROS access to their depth and vision camera hardware. Documentation is maintained separately on the Luxonis docs site.
Pinocchio is an open-source C++ library, with Python bindings, for fast rigid multi-body dynamics and kinematics computations. It is mainly aimed at robotics and also used in other fields.
Crocoddyl is an optimal control library for robots under contact sequences, using differential dynamic programming solvers to compute optimal trajectories and feedback gains.
A LiDAR odometry system that estimates a sensor's motion from point clouds, built to stay robust in degenerate environments through adaptive weighting.
RKO-LIO is a LiDAR-inertial odometry system that estimates a sensor's motion from LiDAR and IMU data, without sensor-specific modelling. It runs as a Python package or a ROS package.
EdgeTX is open-source firmware for R/C radio transmitters, developed by the hobby community as the successor line to OpenTX.
RViz is a 3D visualizer for the Robot Operating System 2 (ROS 2) framework, used to display robot and sensor data. It is installed following the ROS 2 installation instructions.
A bridge that connects robotics and industrial IoT data sources to ReductStore for long-term storage, configured through a TOML file.
Tracing tools for ROS 2 that instrument core packages and configure LTTng tracing through a CLI command and launch actions. Currently supports Linux only.
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