Open-source robotics software
583 open-source libraries, tools and applications tagged robotics, ranked by how closely robotics is their primary purpose, then by adoption and maintenance health. Each entry links to a page with sources, use cases and when to choose or avoid it.
583 products, primary matches first, then adoption-weighted; health v2 shown.
| Product | Health v2 | Stars | Maturity |
|---|---|---|---|
| AirSLAM AirSLAM is an efficient, illumination-robust point-line visual SLAM system supporting stereo visual odometry/VIO, offline map optimization,… | 43 | 1200 | active |
| siemens/ros-sharp ROS# is a set of open-source C# libraries and tools for communicating with the Robot Operating System (ROS) from .NET applications, most no… | 87 | 1199 | active |
| YOPO YOPO is a learning-based one-stage planner for quadrotor autonomous navigation in obstacle-dense environments, integrating perception, mapp… | 76 | 1187 | active |
| chengxuxin/extreme-parkour Official code for 'Extreme Parkour with Legged Robots' (ICRA 2024), a reinforcement learning framework for training quadruped robots to per… | 28 | 1184 | active |
| VladimirYugay/Gaussian-SLAM A research implementation of a dense RGBD SLAM system that uses 3D Gaussian Splatting as its scene representation to photorealistically rec… | 27 | 1184 | active |
| NVlabs/Deep_Object_Pose NVIDIA's Deep Object Pose Estimation (DOPE), a deep learning system for detecting known objects and estimating their 6-DoF pose from RGB ca… | 44 | 1182 | active |
| lichtblick-suite/lichtblick Lichtblick is an integrated visualization and diagnosis tool for robotics, usable in the browser or as a desktop app on Linux, Windows, and… | 92 | 1176 | active |
| IFL-CAMP/easy_handeye A ROS package with a GUI that automates hand-eye calibration between a robot and a camera/tracking system, supporting eye-in-hand and eye-o… | 44 | 1175 | active |
| Mini Pupper Mini Pupper is an open-source ROS-based quadruped robot dog kit built around Raspberry Pi, with software for SLAM, navigation, and OpenCV-b… | 77 | 1171 | active |
| SarahWeiii/CoACD CoACD is a C++ library (with Python bindings and a Unity package) that performs approximate convex decomposition of 3D triangle meshes usin… | 95 | 1169 | active |
| simpler-env/SimplerEnv SIMPLER (SimplerEnv) is a collection of simulated environments built on SAPIEN/ManiSkill for evaluating real-world robot manipulation polic… | 48 | 1169 | active |
| DepthAnything/PromptDA Prompt Depth Anything is a Python library implementing a CVPR 2025 method for high-resolution (up to 4K) accurate metric depth estimation. … | 47 | 1169 | active |
| dheera/rosboard ROSboard is a ROS node that runs a lightweight web server on your robot, letting you visualize ROS topics in a browser at port 8888. It wor… | 73 | 1168 | active |
| superxslam/SuperOdom SuperOdometry is a lightweight C++/ROS library for LiDAR-only and LiDAR-inertial odometry and mapping, developed by CMU's AirLab. It fuses … | 49 | 1168 | active |
| ucla-mobility/OpenCDA OpenCDA is an open-source Python framework for prototyping and evaluating full-stack cooperative driving automation (CDA) applications in a… | 63 | 1166 | active |
| Tavish9/any4lerobot Any4LeRobot is a curated collection of Python utilities for the Hugging Face LeRobot robotics ecosystem, including dataset conversion scrip… | 63 | 1165 | active |
| MIT-SPARK/Hydra Hydra is a C++ system that incrementally builds hierarchical 3D Scene Graphs from sensor data in real time. It is developed by MIT SPARK as… | 66 | 1163 | active |
| unitreerobotics/unifolm-world-model-action UnifoLM-WMA-0 is Unitree's open-source world-model-action framework for general-purpose robot learning across multiple robotic embodiments.… | 47 | 1161 | active |
| PX4/eigen PX4/eigen is a fork of Eigen, a C++ template library for linear algebra providing matrices, vectors, numerical solvers, and related algorit… | 32 | 1153 | stable |
| open-gigaai/giga-world-1 GigaWorld-1 is an open-source framework providing training, inference, data processing, checkpoint conversion, and LoRA merge workflows for… | 52 | 1152 | active |
| metartc/metaRTC MetaRTC is a pure C WebRTC SDK designed for embedded, IoT, and robotics devices, implementing a complete WebRTC protocol stack (ICE, DTLS/S… | 72 | 1151 | active |
| FlagOpen/RoboBrain2.5 RoboBrain 2.5 is an open-source embodied AI foundation model from BAAI that combines multimodal large language model capabilities with 3D s… | 47 | 1150 | active |
| Being-H Being-H is a family of human-centric embodied foundation models, including VLA models (Being-H0.5, Being-H0) and latent world-action models… | 62 | 1148 | active |
| dheera/rosshow rosshow is a Python CLI tool that visualizes ROS and ROS2 topics directly in the terminal using Unicode Braille or ASCII art. It renders se… | 55 | 1148 | active |
| hanruihua/ir-sim IR-SIM is an open-source, Python-based lightweight robot simulator for navigation, control, and learning. It provides a simple YAML-driven … | 99 | 1146 | active |
| wh200720041/floam FLOAM is a fast and optimized Lidar Odometry And Mapping (LOAM) implementation for indoor and outdoor localization, modified from LOAM and … | 32 | 1145 | stable |
| kzampog/cilantro cilantro is a lean, templated C++ library for processing 3D point cloud data, offering kd-trees, normal estimation, resampling, PCA, PLY I/… | 41 | 1138 | active |
| mgonzs13/yolo_ros A ROS 2 wrapper for Ultralytics YOLO models (YOLOv8 through YOLO26) providing object detection, tracking, instance segmentation, human pose… | 93 | 1137 | active |
| alibaba-damo-academy/RynnVLA-002 RynnVLA-002 is a unified autoregressive Vision-Language-Action and world model that generates robot actions from text and image observation… | 40 | 1136 | active |
| InternRobotics/InternNav InternNav is an open-source PyTorch-based toolbox for building embodied navigation foundation models, supporting vision-language navigation… | 52 | 1135 | active |
| OpenDriveLab/UniVLA UniVLA is an open-source framework for training cross-embodiment vision-language-action (VLA) robot policies using task-centric latent acti… | 40 | 1134 | active |
| ZiwenZhuang/parkour Official code for 'Robot Parkour Learning' (CoRL 2023), a reinforcement learning system that trains quadrupedal robots to perform vision-ba… | 47 | 1133 | active |
| leggedrobotics/elevation_mapping_cupy A GPU-accelerated elevation mapping library for robotics, built on CuPy and integrated with ROS, that fuses point clouds into multi-modal t… | 86 | 1131 | active |
| CCNYRoboticsLab/imu_tools A collection of ROS/ROS2 packages for IMU sensor processing, including Madgwick and complementary filters that fuse gyroscope, acceleromete… | 75 | 1130 | active |
| MIT-SPARK/VGGT-SLAM VGGT-SLAM is a dense RGB SLAM system that performs real-time feed-forward 3D scene reconstruction, optimizing on the SL(4) manifold using t… | 56 | 1129 | active |
| princeton-vl/DPVO DPVO is a deep learning-based visual odometry and SLAM system that estimates camera trajectories from video or image sequences using patch-… | 75 | 1127 | active |
| cggos/imu_x_fusion A C++/ROS library implementing loosely-coupled IMU + X (GNSS, 6DoF odometry) fusion localization using ESKF, IEKF, UKF variants, and MAP es… | 34 | 1126 | active |
| hanruihua/NeuPAN NeuPAN is a real-time, map-free robot motion planner that maps raw obstacle point data directly to control actions using an end-to-end MPC-… | 63 | 1124 | active |
| princeton-vl/RAFT-Stereo RAFT-Stereo is a PyTorch implementation of a deep learning model for stereo matching that estimates disparity maps from stereo image pairs … | 71 | 1121 | stable |
| DroneBridge DroneBridge for ESP32 is open-source firmware for ESP32 modules that provides a secure, transparent, bidirectional telemetry link between a… | 91 | 1120 | active |
| louiszengCN/CarlaAir CarlaAir is an open-source simulation infrastructure that combines CARLA's high-fidelity urban driving environments with physics-accurate m… | 68 | 1117 | active |
| OpenKinect/libfreenect libfreenect is a userspace driver and library for the original Microsoft Xbox Kinect sensor, providing access to RGB and depth images, moto… | 23 | 3838 | maintenance |
| foxglove/mcap MCAP is an open-source, serialization-agnostic container file format for multimodal log data, with native reader/writer libraries in C++, G… | 98 | 1112 | stable |
| waymo-research/waymax Waymax is a lightweight, multi-agent autonomous driving simulator built entirely in JAX, based on the Waymo Open Motion Dataset. It support… | 46 | 1108 | active |
| PKU-MARL/DexterousHands Bi-DexHands is a Python library providing bimanual dexterous hand manipulation environments built on NVIDIA Isaac Gym for reinforcement lea… | 32 | 1104 | active |
| ZhuYanzhen1/miniFOC miniFOC is an open-source Field Oriented Control (FOC) firmware and hardware scheme for brushless DC (BLDC) motors, designed to run on very… | 23 | 1104 | active |
| hku-mars/FAST-Calib FAST-Calib is a C++ tool for fast, target-based extrinsic calibration of LiDAR-camera systems, producing accurate results in about one seco… | 53 | 1103 | active |
| Patchwork++ Patchwork++ is a fast, robust, and self-adaptive ground segmentation algorithm for 3D LiDAR point clouds, published at IROS 2022. It provid… | 81 | 1101 | active |
| creapunk/CLN-ClosedLoopNemaDriver An open-source hardware project providing compact closed-loop stepper motor drivers for NEMA form factor motors, with schematics, PCB files… | 72 | 1101 | active |
| TinyMPC/TinyMPC TinyMPC is an open-source C++ solver for convex model-predictive control with a small memory footprint, designed for resource-constrained m… | 70 | 1100 | active |
| NVIDIA/DreamDojo NVIDIA's official PyTorch codebase for DreamDojo, a generalist robot world model pretrained on 44k hours of human egocentric video and post… | 45 | 1099 | active |
| Toni-SM/skrl skrl is an open-source modular Reinforcement Learning library written in Python, implemented in PyTorch, JAX, and NVIDIA Warp. It supports … | 86 | 1098 | active |
| ODrive ODrive is high-performance brushless motor controller firmware (C++) for ODrive v3.x hardware, enabling precise torque, velocity, and posit… | 48 | 3770 | maintenance |
| AlohaMini AlohaMini is an open-source, 3D-printable dual-arm mobile robot with a motorized lift, buildable for under $1,000. It is LeRobot-ready for … | 54 | 1087 | active |
| Sollimann/bonsai Bonsai is a Rust implementation of behavior trees for building deterministic AI logic, with Python bindings available on PyPI. It targets r… | 82 | 1083 | active |
| abizovnuralem/go2_omniverse A Python library providing Unitree Go2 and G1 robot support for NVIDIA Isaac Lab / Isaac Sim, enabling simulation of these quadruped and hu… | 53 | 1080 | active |
| ODAS ODAS (Open embeddeD Audition System) is a C library for real-time sound source localization, tracking, separation, and post-filtering using… | 32 | 1078 | stable |
| LeCAR-Lab/human2humanoid Official implementation of H2O and OmniH2O, reinforcement-learning-based systems for real-time whole-body teleoperation of full-sized human… | 23 | 1078 | active |
| SUPER SUPER is a safety-assured high-speed navigation system for micro aerial vehicles (MAVs), published in Science Robotics by HKU MaRS Lab. It … | 29 | 1073 | active |
| willem-pennings/balancing-cube A complete open-source hardware and software project for a self-balancing cube that stands on its corner or edge using three reaction wheel… | 26 | 1067 | stable |
| neka-nat/cupoch Cupoch is a C++/Python library that implements rapid 3D data processing for robotics using CUDA, based on Open3D. It provides GPU-accelerat… | 59 | 1062 | active |
| koide3/small_gicp small_gicp is a header-only C++ library with Python bindings for fast, parallelized point cloud registration algorithms including ICP, Poin… | 60 | 1061 | active |
| TeleHuman/PBHC Official implementation of KungfuBot, a physics-based humanoid whole-body control framework for learning highly-dynamic skills like kungfu … | 57 | 1061 | active |
| eCAL eCAL is a high-performance, brokerless middleware for interprocess communication on a single machine or across a network, offering publish-… | 95 | 1055 | active |
| linorobot/linorobot2 linorobot2 is a ROS 2 package that provides a complete, working foundation for building autonomous mobile robots with 2WD, 4WD, and Mecanum… | 76 | 1054 | active |
| vectr-ucla/direct_lidar_inertial_odometry DLIO is a lightweight LiDAR-inertial odometry algorithm that constructs continuous-time trajectories using a coarse-to-fine approach for pr… | 50 | 1050 | active |
| vectr-ucla/direct_lidar_odometry Direct LiDAR Odometry (DLO) is a lightweight, computationally-efficient frontend LiDAR odometry package for consistent and accurate pose es… | 23 | 1049 | stable |
| abizovnuralem/go2_ros2_sdk An unofficial ROS2 SDK for the Unitree Go2 quadruped robot (AIR/PRO/EDU), connecting over WebRTC (Wi-Fi) or CycloneDDS (Ethernet). It provi… | 54 | 1048 | active |
| DLR-RM/3DObjectTracking A collection of C++ implementations of 3D object tracking algorithms from DLR research, including region-based 6DoF trackers (RBGT, SRT3D, … | 46 | 1040 | active |
| whoenig/libMultiRobotPlanning A C++14 header-style library providing highly templated search algorithms for multi-robot/agent task and path planning. It implements singl… | 32 | 1039 | stable |
| rl-tools/rl-tools RLtools is a pure C++ header-only, dependency-free deep reinforcement learning library supporting algorithms like SAC, TD3, and PPO. It com… | 66 | 1036 | active |
| graspnet/graspnet-baseline The official baseline deep learning model for the GraspNet-1Billion benchmark, detecting dense 6-DoF grasp poses from point clouds of clutt… | 32 | 1036 | stable |
| Phylliade/ikpy IKPy is a pure-Python inverse kinematics library that computes IK for arbitrary kinematic chains defined via URDF, MJCF, DH parameters, or … | 90 | 1034 | active |
| 6-robot/wpr_simulation A Gazebo simulation package for the WPR series of wheeled mobile robots, designed for ROS Noetic on Ubuntu 20.04. It provides demo scenario… | 32 | 1031 | active |
| silvery107/rl-mpc-locomotion A Python framework combining deep reinforcement learning with model predictive control (MPC) for quadruped robot locomotion, where a policy… | 64 | 1028 | active |
| MichaelFYang/far_planner FAR Planner is a C++/ROS route planner for autonomous robots that builds a dynamically updated visibility graph to plan paths in both known… | 66 | 1017 | stable |
| chhRobotics A C++ implementation collection of common planning and control algorithms for autonomous driving, including global/local path planning (A*,… | 32 | 1015 | active |
| LeCAR-Lab/dial-mpc DIAL-MPC is a sampling-based model predictive control framework for full-order, torque-level locomotion control of legged robots, using dif… | 20 | 1011 | active |
| hamuchiwa/AutoRCCar An open-source project that turns a hobby RC car into an autonomous self-driving vehicle using a Raspberry Pi, Arduino, camera, and ultraso… | 32 | 3351 | maintenance |
| mit-biomimetics/Cheetah-Software MIT Biomimetics' software for the Cheetah 3 and Mini Cheetah quadruped robots, containing a dynamics/common library, robot control programs… | 32 | 3307 | maintenance |
| google/brax Brax is a fast, fully differentiable rigidbody physics engine written in JAX, designed for massively parallel simulation on accelerator har… | 84 | 3247 | maintenance |
| eureka-research/Eureka Eureka is a research library from NVIDIA that uses coding LLMs like GPT-4 to automatically generate reward functions for reinforcement lear… | 28 | 3210 | maintenance |
| Habitat AI Habitat is a high-performance, physics-enabled 3D simulation platform for Embodied AI research, consisting of Habitat-Sim (a fast 3D sim… | 68 | 3159 | maintenance |
| leggedrobotics/legged_gym A Python library providing Isaac Gym environments for training legged robots (e.g., ANYmal) to walk on rough terrain with reinforcement lea… | 39 | 3150 | maintenance |
| isaac-sim/IsaacGymEnvs A collection of example reinforcement learning environments for NVIDIA Isaac Gym, a GPU-accelerated physics simulator. It provides a Gym-st… | 10 | 2952 | maintenance |
| but0n/Avem Avem is a lightweight open-source drone flight controller firmware for STM32F103, implementing quaternion/euler attitude estimation from an… | 32 | 2916 | maintenance |
| ethz-asl/maplab maplab 2.0 is an open, research-oriented C++ mapping framework for multi-session and multi-robot SLAM, built on ROS. It provides robust vis… | 23 | 2880 | maintenance |
| LeGO-LOAM LeGO-LOAM is a lightweight, ground-optimized lidar odometry and mapping (SLAM) system for ROS-compatible unmanned ground vehicles. It consu… | 32 | 2754 | maintenance |
| zhm-real/MotionPlanning A Python collection of motion planning and path tracking algorithms for autonomous vehicles, including Hybrid A*, Frenet Optimal Trajectory… | 32 | 2751 | maintenance |
| Cleanflight Cleanflight is open-source flight controller firmware for multi-rotor and fixed-wing aircraft, written in C for STM32-based boards. It is a… | 23 | 2738 | maintenance |
| tum-vision/lsd_slam LSD-SLAM is a real-time monocular SLAM system that uses direct (featureless) image alignment to build large-scale, semi-dense 3D maps from … | 32 | 2730 | maintenance |
| iliasam/OpenSimpleLidar Open Source scanning laser rangefinder (lidar) built with STM32 firmware and a triangulation-based optical design, with schematics, firmwar… | 34 | 2571 | maintenance |
| Direct Sparse Odometry DSO (Direct Sparse Odometry) is a C++ library implementing monocular visual odometry using direct sparse methods with photometric calibrati… | 32 | 2459 | maintenance |
| strasdat/Sophus Sophus is a C++ template library implementing 2D and 3D Lie groups (SO(2), SO(3), SE(2), SE(3)) built on top of Eigen, commonly used for ge… | 23 | 2455 | maintenance |
| HKUST-Aerial-Robotics/A-LOAM A-LOAM is an advanced, simplified C++ implementation of LOAM (Lidar Odometry and Mapping in Real-time) built on Eigen and Ceres Solver. It … | 32 | 2446 | maintenance |
| leggedrobotics/darknet_ros A ROS package wrapping the YOLO (Darknet) real-time object detector for use in robotic systems. It subscribes to camera image topics and pu… | 23 | 2443 | maintenance |
| wjwwood/serial A cross-platform C++ library for interfacing with RS-232 serial ports, offering a modern C++ API modeled after PySerial. It supports open/c… | 32 | 2437 | maintenance |
| cruise-automation/webviz Webviz is a web-based application for playback and visualization of ROS bag files, with modular panels for 3D scenes, plots, and images. Th… | 32 | 2346 | maintenance |
| koide3/hdl_graph_slam hdl_graph_slam is an open-source ROS package for real-time 6DOF SLAM using 3D LIDAR, based on graph SLAM with NDT scan matching odometry an… | 32 | 2337 | maintenance |
| OOMWOO OOMWOO is an open-source DIY robot vacuum cleaner built with a Raspberry Pi, ESP32, Arduino, 3D-printed chassis, and 2D LiDAR for SLAM-base… | 59 | 12221 | experimental |