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727 search results found

Open-Source Framework for Development, Simulation and Benchmarking of Behavior Planning Algorithms for Autonomous Driving

Python binding of SLAM graph optimization framework g2o

Wheel Ins ⭐ 257

A wheel-mounted MEMS IMU-based dead reckoning system.

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping

Mavros_controllers ⭐ 234

Aggressive trajectory tracking using mavros for PX4 enabled vehicles

Tesseract ⭐ 232

Motion Planning Environment

Minisam ⭐ 230

A general and flexible factor graph non-linear least square optimization framework

Diffbot ⭐ 227

DiffBot is an autonomous 2wd differential drive robot using ROS Noetic on a Raspberry Pi 4 B. With its SLAMTEC Lidar and the ROS Control hardware interface it's capable of navigating in an environment using the ROS Navigation stack and making use of SLAM algorithms to create maps of unknown environments.

Anms Codes ⭐ 224

Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution

A lightweight framework for Gaussian processes and Bayesian optimization of black-box functions (C++11)

Gaussian Process Motion Planner 2

Free_gait ⭐ 223

An Architecture for the Versatile Control of Legged Robots

Visualization of Motions for Legged Robots in ros-rviz

Uv Slam ⭐ 218

UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping

Mars_lib ⭐ 216

MaRS: A Modular and Robust Sensor-Fusion Framework

Camlasercalibratool ⭐ 211

Extrinsic Calibration of a Camera and 2d Laser

Rvo2 3d ⭐ 211

Optimal Reciprocal Collision Avoidance in Three Dimensions (C++)

Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2

Gym Ignition ⭐ 204

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo

High-Level Motion Library for Collaborative Robots

C++ RRT (Rapidly-exploring Random Tree) Implementation

A robust sensor fusion library for online localization.

Artificial Intelligence for Kinematics, Dynamics, and Optimization

Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning

Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages

Effective_robotics_programming_with_ros ⭐ 180

Effective Robotics Programming with ROS

Lidar_obstacle_detector ⭐ 179

3D LiDAR Object Detection & Tracking using Euclidean Clustering, RANSAC, & Hungarian Algorithm

Robocup Software ⭐ 178

Georgia Tech RoboJackets Software for the RoboCup Small Size League

Subt_hello_world ⭐ 178

Hello World for DARPA SubT Challenge

MoveIt kinematics_base plugin based on particle optimization & GA

Xarm_ros ⭐ 171

ROS packages for robotic products from UFACTORY

Lipm_walking_controller ⭐ 168

Walking controller for humanoid robots based on inverted pendulum tracking

Integration between ROS (1 and 2) and Gazebo simulation

🤖🐑 It's a sheep, it's a dolly, it's a following robot. Dolly was born to be cloned.

Am_traj ⭐ 153

Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight

Scrimmage ⭐ 149

Multi-Agent Robotics Simulator

Odrive_ros2_control ⭐ 146

ODrive driver for ros2_control

Simbenchmark ⭐ 144

Physics engine benchmark for robotics applications: RaiSim vs Bullet vs ODE vs MuJoCo vs DartSim

FLaME: Fast Lightweight Mesh Estimation

Handsfree ⭐ 142

HandsFree Open Source Robot Project

Clipper ⭐ 141

graph-theoretic framework for robust pairwise data association

Sdformat ⭐ 141

Simulation Description Format (SDFormat) parser and description files.

Fiss_planner ⭐ 140

[RA-L 2022] FISS: A Trajectory Planning Framework using Fast Iterative Search and Sampling Strategy for Autonomous Driving

Idyntree ⭐ 140

Multibody Dynamics Library designed for Free Floating Robots

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

Omplapp ⭐ 132

The Open Motion Planning Library (OMPL), GUI + FCL/Assimp integration

Mastering Ros For Robotics Programming Second Edition ⭐ 130

Mastering ROS for Robotics Programming - Second-Edition, published by Packt

Cartesian Impedance Controller ⭐ 128

A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS bindings.

Distributed Pose Graph Optimization

Multibody Dynamics Simulation: Rigid and flexible multibody systems

Ntrtsim ⭐ 127

The NASA Tensegrity Robotics Toolkit Simulator, a physics based simulator to research the design and control of tensegrity robots.

Path_optimizer_2 ⭐ 125

Optimization-based real-time path planning for vehicles.

Mrpt_navigation ⭐ 125

ROS 2 nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc. SLAM is in other packages.

Robocomp ⭐ 124

RoboComp is a cutting-edge open-source robotics framework providing tools to easily create, modify and manage robot software components.

UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown

Graspit ⭐ 118

The GraspIt! simulator

Dominorobot ⭐ 117

This is the code for Mark Rober's Domino Robot project. You can find a bunch more info about the project, including details about the software architecture on my website.

The Hybrid Reciprocal Velocity Obstacle (C++)

Lie theory for robotics

Zed Ros2 Wrapper ⭐ 114

ROS 2 wrapper for the ZED SDK

Pendulum ⭐ 114

ROS, ROS2, real-time, control, pendulum

Just another ground control station

Lvio Sam ⭐ 112

A Multi-sensor Fusion Odometry via Smoothing and Mapping.

Apstreamline ⭐ 110

Live Video Streaming Made Easy!

Open-source diff drive robot ROS 2 compatible

Pointgrey_camera_driver ⭐ 109

ROS driver for Pt. Grey cameras, based on the official FlyCapture2 SDK.

Icub Main ⭐ 105

The iCub Main Software Repository

Chilitags ⭐ 105

Robust Fiducial Markers for Augmented Reality And Robotics

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

Get Started Ros2 ⭐ 102

書籍「ROS2ではじめよう次世代ロボットプログラミング」オンラインリソース

Arduino and CMake library for communicating with uBlox GPS receivers.

Aerostack2 ⭐ 97

Aerostack2 is a ROS 2 framework developed to create autonomous multi-aerial-robots systems in an easy and powerful way.

K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching (RA-L 2022)

Mobile Robot Localization in 3D Triangle Meshes

Ethercat_driver_ros2 ⭐ 96

Hardware Interface for EtherCAT module integration with ros2_control

Ros2_canopen ⭐ 95

CANopen driver framework for ROS2

SE(2)-Constrained Localization and Mapping by Fusing Odometry and Vision (IEEE Transactions on Cybernetics 2019)

Remove_ros_vins ⭐ 91

remove ROS from VINS

Ugv_gazebo_sim ⭐ 90

Fabrik2darduino ⭐ 89

A fast forward- and inverse kinematics solver for Arduino based on the FABRIK algorithm. The solver supports up to 4 DOF.

Softrobots ⭐ 89

This Sofa plugin contains components & method for soft robotics.

Underwater_simulation ⭐ 88

UWSim-NET, the Underwater Simulator

Wave_geometry ⭐ 88

Manifold geometry with fast automatic derivatives and coordinate frame semantics checking

Lidartag ⭐ 88

This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

Robot 101 ⭐ 87

Tutorial, books, videos, resources to help us learn and DIY Open Sources Robot

Time-Optimal Path Parameterization (à la Bobrow)

Libcluon ⭐ 84

libcluon is a small and efficient, single-file and header-only library written in modern C++ to power microservices.

Continuumrobotexamples ⭐ 84

An incremental guide to continuum robot mathematical modeling and numerical implementation. The examples are divided into chapters within the folder structure, and each chapter contains a PDF and code examples.

VT&R3 is a C++ implementation of the Teach and Repeat navigation framework. It enables a robot to be taught a network of traversable paths and then closely repeat any part of the network.

Igvc Software ⭐ 82

The code base for the RoboNav team's IGVC robot.

Scout_ros ⭐ 82

This repository ROS package is suit for scout 2 and scout mini

Webots_ros ⭐ 81

Webots ROS package

Stonefish ⭐ 81

Stonefish - an advanced C++ simulation library designed for (but not limited to) marine robotics.

Drake External Examples ⭐ 81

Examples of how to use Drake in your own project.

Multi_uav_simulator ⭐ 81

A quadrotor swarm simulator based on ROS (Robot Operating System).

Dynamixel_hardware ⭐ 78

ros2_control packages for ROBOTIS Dynamixel

Baselinewalkingcontroller ⭐ 76

Humanoid walking controller with various baseline methods

Vins Rgbd Fast ⭐ 76

VINS-RGBD-FAST is a SLAM system based on VINS-RGBD. We do some refinements to accelerate the system's performance in resource-constrained embedded platforms, like HUAWEI Atlas 200DK, Raspberry Pi.

Syropod_highlevel_controller ⭐ 76

OpenSHC: A Versatile Multilegged Robot Controller

Human Gazebo ⭐ 75

URDF models of humans created to perform human robot interaction experiments.

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