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 library that computes time-optimal path parameterizations for robots under kinematic and dynamic constraints. It turns a geometric path into the fastest feasible trajectory.
A C++ library implementing the Iterative Closest Point algorithm for aligning point clouds, with a Python binding, used in robotics and computer vision.
A ROS package that bridges raw camera driver output and higher-level vision processing, providing the image processing stage in between.
A tool that pulls an Onshape assembly through the Onshape API and builds a robot description in URDF, SDF or MuJoCo format for physics simulation.
A ROS2 driver that reads raw data from SICK Safety Scanners over Ethernet and publishes it as a laser scan message.
Vizanti is a web-based visualizer and mission planner for ROS, aimed at operating outdoor robots from a phone-friendly interface.
Eclipse iceoryx is an inter-process communication middleware using true zero-copy shared memory to pass data between processes with constant latency regardless of payload size.
Donkeycar is a minimalist Python library for building and experimenting with self-driving robot cars, aimed at hobbyists, students and researchers.
A set of ROS 2 nodes for calibrating robot parameters such as camera intrinsics and extrinsics, joint offsets and frame offsets, plus mobile-base scaling and magnetometer hard-iron offsets.
A framework for robot learning from demonstration, offering datasets of robot manipulation demonstrations and offline learning algorithms to train policies from them.
A visual fiducial marker system for robotics: a small C library that detects tags in images and estimates their pose, with Python and other bindings.
A C++ helper library for visualizing MoveIt data in Rviz, such as markers, trajectories, collision objects and robot states. It is built on top of rviz_visual_tools.
ROS 1 and ROS 2 drivers, written in C++, for Septentrio GNSS and GNSS/INS receivers such as mosaic and AsteRx, supporting multiple connection types and message formats.
A Python library giving simple access to GPIO components such as LEDs, buttons and sensors on Raspberry Pi. It offers an easy entry point to physical computing.
A framework on NVIDIA Isaac Sim for simulating multirotor vehicle dynamics, with interfaces for PX4 and ArduPilot and a custom Python control interface.
A ROS 2 component node that bridges ROS messages to and from an MQTT broker, so ROS and non-ROS devices or robots can exchange messages over MQTT.
A ROS 2 package that connects Feetech servos to the ros2_control framework so they can be driven through standard controllers.
MoveIt is an open-source motion planning framework for ROS 1 used to build, prototype, and benchmark robot manipulation applications.
Phobos is a Blender add-on and Python CLI tool for building, editing, and exporting robot models in formats such as URDF, SDF, and SMURF for ROS, ROCK, MARS, and Gazebo.
robosuite is a modular simulation framework built on the MuJoCo physics engine for robot learning, with a suite of benchmark manipulation environments for reproducible research.
CANopenNode is an open-source ANSI C implementation of the CANopen protocol stack for embedded control systems built on CAN, usable with or without an RTOS.
An Ubuntu SDK for RoboSense lidars that gives ROS and ROS2 nodes point cloud output, built on the rs_driver core. It is meant for use through ROS/ROS2 rather than direct integration.
A ROS node that multiplexes several geometry_msgs/Twist velocity command topics into one output, choosing among them by priority. It is meant for robot teleoperation setups.
A GPU-accelerated C++ library for real-time 3D reconstruction, aimed at robotic applications. It can be used from Python, C++, or ROS2.
Projects 193–216 of 276