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 |
|---|---|---|---|
| facebookresearch/pyrobot PyRobot is a lightweight, high-level Python library providing hardware-independent APIs for robotic manipulation and navigation, built on t… | 10 | 2305 | maintenance |
| OpenKinect/libfreenect2 libfreenect2 is an open-source C++ driver library for the Kinect for Windows v2 depth camera. It handles RGB, IR, and depth image transfer … | 23 | 2254 | maintenance |
| espressif/esp-drone ESP-Drone is open-source firmware for mini drones/quadcopters built on ESP32 and ESP32-S series chips, ported from the Crazyflie project. I… | 72 | 2240 | maintenance |
| onlytailei/CppRobotics A C++ implementation of robotics algorithms from PythonRobotics, covering localization, mapping, SLAM, path planning, and path tracking con… | 32 | 2235 | maintenance |
| bitdump/BLHeli BLHeli is open-source firmware for sensorless brushless motor electronic speed controllers (ESCs), written in assembly for Atmel and Silabs… | 36 | 2233 | maintenance |
| uzh-rpg/rpg_svo SVO is a semi-direct monocular visual odometry pipeline written in C++ that estimates camera motion from image sequences. It is research co… | 32 | 2233 | maintenance |
| br3ttb/Arduino-PID-Library A PID (Proportional-Integral-Derivative) feedback control library for Arduino, written in C++. It provides basic closed-loop control functi… | 23 | 2205 | maintenance |
| Eclipse iceoryx Eclipse iceoryx is a C++ inter-process communication (IPC) middleware that provides true zero-copy data transfer via shared memory, with pu… | 87 | 2194 | maintenance |
| mike4192/spotMicro Open-source software for controlling a 3D-printed Spot Micro quadruped robot, implementing sit, stand, angle, and walking motion via ROS no… | 32 | 2137 | maintenance |
| Kimera Kimera is a modular C++ library for real-time metric-semantic SLAM that builds semantically annotated 3D meshes from camera and inertial da… | 32 | 2130 | maintenance |
| generalized-intelligence/GAAS GAAS (Generalized Autonomy Aviation System) is an open-source C++ framework for fully autonomous VTOL aircraft and drones, built around lid… | 23 | 2094 | maintenance |
| flowdriveai/flowpilot Flowpilot is an open source driver assistance system built on top of openpilot that provides adaptive cruise control, automated lane center… | 23 | 2071 | maintenance |
| strawlab/python-pcl Python bindings for the Point Cloud Library (PCL), implemented with Cython. It exposes PCL's 3D point cloud processing algorithms (filterin… | 10 | 2054 | maintenance |
| NVlabs/alpamayo NVIDIA Alpamayo 1 is an open 10B-parameter reasoning vision-language-action (VLA) model for autonomous vehicles that pairs driving trajecto… | 59 | 2025 | maintenance |
| BCN3D/BCN3D-Moveo BCN3D Moveo is an open-source, fully 3D-printed robotic arm designed for educational purposes, including CAD files, STL files, firmware, as… | 32 | 1994 | maintenance |
| KumarRobotics/msckf_vio A stereo visual-inertial odometry package implementing the Multi-State Constraint Kalman Filter (MSCKF) in C++ on ROS. It fuses synchronize… | 32 | 1979 | maintenance |
| yehengchen/Object-Detection-and-Tracking A collection of Python implementations combining YOLO-based object detection with SORT and DeepSORT multi-object tracking. It includes exam… | 32 | 1965 | maintenance |
| Balanduino A small C++ Kalman filter library for microcontrollers that fuses accelerometer/magnetometer and gyroscope input to estimate angle, rate, a… | 32 | 1950 | maintenance |
| dronekit/dronekit-python DroneKit-Python is a Python library for communicating with UAVs (drones) over the MAVLink protocol. It provides programmatic access to vehi… | 23 | 1943 | maintenance |
| mp3guy/ElasticFusion ElasticFusion is a real-time dense visual SLAM system that builds globally consistent surfel-based 3D maps of room-scale environments from … | 44 | 1927 | maintenance |
| karlkurzer/path_planner A C++ implementation of the Hybrid A* path planning algorithm for nonholonomic autonomous vehicles, developed for the KTH Research Concept … | 62 | 1919 | maintenance |
| TixiaoShan/LVI-SAM LVI-SAM is a tightly-coupled Lidar-Visual-Inertial Odometry and mapping system implemented in C++ on ROS, combining LIO-SAM and VINS-Mono a… | 32 | 1884 | maintenance |
| mpatacchiola/deepgaze Deepgaze is a Python computer vision library for human-computer interaction built on OpenCV and TensorFlow. It provides CNN-based head pose… | 32 | 1882 | maintenance |
| ANYbotics/elevation_mapping A ROS package for robot-centric elevation mapping of rough terrain, built for mobile and legged robots equipped with pose estimation and di… | 32 | 1878 | maintenance |
| xinshuoweng/AB3DMOT Official Python implementation of AB3DMOT, a simple real-time baseline for 3D multi-object tracking using oriented 3D bounding boxes from L… | 32 | 1846 | maintenance |
| LingBot-World LingBot-World is an open-source world model that generates high-fidelity, interactive simulated environments from video generation, support… | 56 | 1823 | maintenance |
| felixge/node-ar-drone A Node.js client library implementing the networking protocols for Parrot AR Drone 2.0 quadcopters. It provides a high-level Client API for… | 32 | 1767 | maintenance |
| laboshinl/loam_velodyne A ROS implementation of LOAM (Laser Odometry and Mapping), a realtime method for state estimation and 3D mapping using a Velodyne 3D lidar.… | 32 | 1763 | maintenance |
| facebookresearch/votenet VoteNet is the official PyTorch implementation of the ICCV 2019 paper 'Deep Hough Voting for 3D Object Detection in Point Clouds'. It provi… | 10 | 1762 | maintenance |
| google-research/robotics_transformer A Python library from Google Research implementing RT-1 (Robotics Transformer), a transformer model for end-to-end robotic control with an … | 10 | 1741 | maintenance |
| gaowenliang/imu_utils A ROS package written in C++ that analyzes IMU performance by computing Allan variance from stationary sensor data. It estimates gyroscope … | 62 | 1740 | maintenance |
| ethz-adrl/control-toolbox The Control Toolbox (CT) is an open-source C++ library for modelling dynamical systems, control, estimation, trajectory optimization and mo… | 23 | 1714 | maintenance |
| koide3/fast_gicp A C++ library of fast GICP-based point cloud registration algorithms, including multi-threaded GICP, voxelized GICP (VGICP), and CUDA-accel… | 37 | 1704 | maintenance |
| commaai/neo The comma.ai neo is an open source robotics research platform combining a OnePlus 3 smartphone with an STM32F205-based CAN interface board … | 10 | 1674 | maintenance |
| ethz-asl/voxblox Voxblox is a C++ volumetric mapping library for building Truncated Signed Distance Field (TSDF) and Euclidean Signed Distance Field (ESDF) … | 32 | 1673 | maintenance |
| charlesq34/frustum-pointnets Official TensorFlow code release for the CVPR 2018 paper 'Frustum PointNets for 3D Object Detection from RGB-D Data' by Stanford and Nuro r… | 32 | 1672 | maintenance |
| raulmur/ORB_SLAM ORB-SLAM is a real-time monocular SLAM system written in C++ that computes camera trajectories and sparse 3D reconstructions from a single … | 32 | 1633 | maintenance |
| hku-mars/loam_livox A robust, real-time LiDAR odometry and mapping (LOAM) package designed for Livox LiDARs with small field of view. It provides feature extra… | 23 | 1624 | maintenance |
| uzh-rpg/rpg_svo_pro_open SVO Pro is a C++ implementation of Semi-direct Visual Odometry from the Robotics and Perception Group at University of Zurich, supporting m… | 32 | 1613 | maintenance |
| cvg/nice-slam NICE-SLAM is a dense RGB-D SLAM system that combines neural implicit decoders with hierarchical grid-based scene representations, published… | 32 | 1600 | maintenance |
| niessner/BundleFusion BundleFusion is a real-time, globally consistent 3D reconstruction system for RGB-D input, published at SIGGRAPH 2017. It estimates globall… | 32 | 1590 | maintenance |
| Ewenwan/ORB_SLAM2_SSD_Semantic A C++ research project extending ORB_SLAM2 with dynamic object detection and semantic mapping. It combines SSD-based object detection (Mobi… | 32 | 1575 | maintenance |
| Azure Kinect SDK A cross-platform (Linux and Windows) user-mode SDK in C++ for reading data from the Azure Kinect depth and RGB camera device. It provides a… | 10 | 1574 | maintenance |
| ShapeLab/SwarmUI Zooids is an open-source, open-hardware platform for building tabletop swarm user interfaces, consisting of small wheeled micro robots, a r… | 32 | 1567 | maintenance |
| petercorke/robotics-toolbox-matlab A MATLAB toolbox providing robotics functionality including kinematics and dynamics of serial-link manipulators, mobile robot motion models… | 23 | 1561 | maintenance |
| hybridgroup/artoo Artoo is a Ruby micro-framework for robotics, drones, and IoT physical computing, providing a DSL for connecting to hardware like Arduino, … | 23 | 1541 | maintenance |
| ethz-asl/rotors_simulator RotorS is a Gazebo-based simulator for micro aerial vehicles (MAVs/UAVs) built on ROS, providing multirotor models like the AscTec Hummingb… | 32 | 1508 | maintenance |
| SkyentificGit/SmallRobotArm An open-source 6-degree-of-freedom robot arm built with stepper motors, including CAD files and C++ control code. It is a hobbyist/DIY robo… | 32 | 1477 | maintenance |
| erwincoumans/motion_imitation A Python research codebase accompanying the paper 'Learning Agile Robotic Locomotion Skills by Imitating Animals'. It provides a Gym enviro… | 32 | 1470 | maintenance |
| Improbable-AI/walk-these-ways A sim-to-real reinforcement learning starter kit for the Unitree Go1 quadruped robot, implementing the Walk These Ways (MoB) locomotion con… | 32 | 1465 | maintenance |
| Chris-Annin/AR2 AR2 is a DIY 6-axis desktop robot arm built from 3D-printed or machined parts, stepper motors, and an Arduino controller, together with Pyt… | 32 | 1457 | maintenance |
| dji-sdk/Tello-Python A collection of Python sample modules for controlling and interacting with the Ryze Tello drone, including command scripting, video streami… | 32 | 1449 | maintenance |
| rail-berkeley/softlearning Softlearning is a deep reinforcement learning toolbox for training maximum entropy policies in continuous domains, and the official impleme… | 32 | 1438 | maintenance |
| gradslam/gradslam gradslam is a fully differentiable dense SLAM library built on PyTorch, providing differentiable building blocks such as nonlinear least sq… | 23 | 1427 | maintenance |
| uzh-rpg/flightmare Flightmare is a modular quadrotor simulator from the UZH Robotics and Perception Group, composed of a decoupled Unity-based rendering engin… | 23 | 1424 | maintenance |
| OpenNI/OpenNI OpenNI is a C++ framework and SDK providing a standard interface for depth sensors and 3D vision devices like PrimeSense and Kinect cameras… | 32 | 1395 | maintenance |
| OKVIS OKVIS is a C++ implementation of keyframe-based visual-inertial SLAM/odometry using nonlinear optimization, from ETH Zurich research. It pr… | 32 | 1368 | maintenance |
| HKUST-Aerial-Robotics/VINS-Mobile VINS-Mobile is a real-time monocular visual-inertial state estimator that runs on iOS devices, providing high-accuracy visual-inertial odom… | 32 | 1367 | maintenance |
| maHidaka/ros_face ROS-Face is a ROS-based system that controls human facial muscles via electrical stimulation, letting you drive facial expressions like a r… | 32 | 1351 | maintenance |
| ToanTech/py-apple-quadruped-robot Py-Apple Dog (Pineapple Dog) is a low-cost, open-source hardware and software project for building a DIY quadruped robot dog. It bundles fo… | 32 | 1327 | maintenance |
| PRBonn/depth_clustering A fast and robust C++ library for segmenting point clouds from Velodyne LiDAR sensors (16, 32, and 64 beam) into objects using depth cluste… | 23 | 1314 | maintenance |
| hengli/camodocal CamOdoCal is a C++ library for automatic intrinsic and extrinsic calibration of a camera rig with multiple generic cameras and odometry. It… | 23 | 1303 | maintenance |
| peng-zhihui/Ctrl-FOC-Lite A port of the SimpleFOC field-oriented-control firmware to STM32 HAL with FreeRTOS support, plus a validated evaluation board design (STM32… | 32 | 1298 | maintenance |
| j96w/DenseFusion DenseFusion is the official PyTorch implementation of the paper '6D Object Pose Estimation by Iterative Dense Fusion', which estimates the … | 32 | 1278 | maintenance |
| mit-acl/faster FASTER is a C++/ROS 3D trajectory planner for fast and safe navigation of UAVs and ground robots in unknown environments, published in IEEE… | 33 | 1251 | maintenance |
| OpenCat Quadruped Robot OpenCat is an open-source Arduino/Raspberry Pi framework for building and programming quadruped robot pets like the Bittle robot dog and Ny… | 74 | 429 | active |
| utiasSTARS/pykitti pykitti is a minimal Python library for loading and working with the KITTI autonomous driving dataset, supporting raw and odometry benchmar… | 32 | 1245 | maintenance |
| DM-VIO DM-VIO is a C++ implementation of Delayed Marginalization Visual-Inertial Odometry, a direct sparse visual-inertial odometry method publish… | 32 | 1236 | maintenance |
| peng-zhihui/XUAN XUAN-Bike is an open-source self-driving (self-balancing) bicycle project by peng-zhihui, containing hardware design files including contro… | 32 | 5592 | experimental |
| uzh-rpg/rpg_trajectory_evaluation A Python toolbox for quantitatively evaluating visual(-inertial) odometry trajectories, supporting multiple alignment methods and standard … | 23 | 1215 | maintenance |
| google/makani The open-sourced software stack from Google X's Makani project, which developed a commercial-scale airborne wind turbine (energy kite). It … | 10 | 1202 | maintenance |
| ethan-li-coding/SemiGlobalMatching A complete, well-commented C++ implementation of the classic Semi-Global Matching (SGM) stereo matching algorithm for computing disparity a… | 32 | 1200 | maintenance |
| APRIL-ZJU/lidar_IMU_calib LI-Calib is a C++/ROS toolkit that calibrates the 6DoF rigid transformation and time offset between a 3D LiDAR and an IMU using continuous-… | 32 | 1188 | maintenance |
| HKUST-Aerial-Robotics/GVINS GVINS is a C++/ROS nonlinear optimization system that tightly fuses GNSS raw measurements (pseudorange and Doppler) with visual and inertia… | 32 | 1165 | maintenance |
| HKUST-Aerial-Robotics/Teach-Repeat-Replan Teach-Repeat-Replan is a complete C++/ROS system enabling aggressive autonomous drone flight in complex environments. It converts a manuall… | 32 | 1163 | maintenance |
| Timthony/self_drive A self-driving RC car project based on Raspberry Pi and TensorFlow/Keras. It collects camera images while a human drives the car on a taped… | 32 | 1137 | maintenance |
| laurentkneip/opengv OpenGV is a C++ library of computer vision methods for solving geometric vision problems such as absolute-pose, relative-pose, triangulatio… | 32 | 1135 | maintenance |
| yrlu/quadrotor A MATLAB codebase implementing quadrotor PD controllers, path planning algorithms (Dijkstra, A*), and trajectory optimization (minimum snap… | 23 | 1129 | maintenance |
| DJI Mobile SDK for Android The DJI Mobile SDK for Android (V4) lets developers build custom Android apps that automate and control DJI drones and handheld cameras, in… | 23 | 1125 | maintenance |
| JiawangBian/GMS-Feature-Matcher GMS (Grid-based Motion Statistics) is a fast, robust feature correspondence algorithm for filtering feature matches between images, publish… | 32 | 1113 | maintenance |
| andyzeng/visual-pushing-grasping PyTorch reference implementation of Visual Pushing and Grasping (VPG), which trains robotic agents via self-supervised deep reinforcement l… | 32 | 1113 | maintenance |
| linorobot/linorobot Linorobot is a suite of open-source ROS-compatible autonomous ground robots (2WD, 4WD, Ackermann steering, mecanum drive) with Teensy-based… | 23 | 1112 | maintenance |
| ethz-asl/ethzasl_msf ethzasl_msf is a modular C++ framework for multi-sensor fusion based on an Extended Kalman Filter (EKF), with time delay compensation for s… | 57 | 1105 | maintenance |
| nicrusso7/rex-gym Rex-gym provides OpenAI Gym environments for the open-source SpotMicro quadruped robot, built on PyBullet simulation, along with a PPO lear… | 32 | 1103 | maintenance |
| ethz-asl/segmap SegMap is a C++ library and ROS package providing a segment-based 3D map representation for robot localization, environment reconstruction,… | 32 | 1096 | maintenance |
| kriswiner/MPU9250 Arduino sketches and supporting code for the MPU-9250 9-DoF motion sensor, including calibration, self-test, and AHRS sensor fusion using M… | 32 | 1090 | maintenance |
| AlkaMotors/AM32-MultiRotor-ESC-firmware AM32 is open-source firmware for STM32-based electronic speed controllers (ESCs) that drive brushless motors in multirotors and other RC ve… | 23 | 1086 | maintenance |
| ethz-adrl/towr TOWR is a lightweight, Eigen-based C++ library for trajectory optimization of legged robots. It provides reusable variables, costs, and con… | 23 | 1085 | maintenance |
| Differentiable MPC mpc.pytorch is a fast and differentiable model predictive control (MPC) solver implemented as a PyTorch library. It solves receding-horizon… | 32 | 1080 | maintenance |
| aurora-opensource/xviz XVIZ is a protocol and JavaScript tooling suite for real-time transfer and visualization of autonomy data, with modules for building, parsi… | 23 | 1075 | maintenance |
| HViktorTsoi/FAST_LIO_LOCALIZATION A ROS-based localization framework that re-localizes a robot in a pre-built 3D point cloud map by fusing FAST-LIO lidar odometry with low-f… | 32 | 1072 | maintenance |
| poppy-project/poppy-humanoid Poppy Humanoid is an open-source, 3D-printed humanoid robot platform combining hardware designs (STL/Solidworks files), software, and docum… | 23 | 1068 | maintenance |
| ethz-asl/lidar_align A ROS-based C++ tool that estimates the extrinsic transformation between a 3D lidar and a 6-DOF pose sensor. It works by fusing lidar point… | 33 | 1059 | maintenance |
| zdzhaoyong/GSLAM GSLAM is a general Simultaneous Localization and Mapping (SLAM) framework and benchmark written in C++. It provides a unified plugin-based … | 23 | 1059 | maintenance |
| dimensionalOS/dimos DimOS is a Python SDK and agent-native operating system for generalist robotics, letting users command humanoids, quadrupeds, and drones in… | 89 | 4668 | experimental |
| isaac-sim/OmniIsaacGymEnvs A collection of GPU-accelerated reinforcement learning environments built on NVIDIA Isaac Sim and the omni.isaac.gym framework, with PPO tr… | 10 | 1049 | maintenance |
| Shunichi09/PythonLinearNonlinearControl A Python library implementing linear and nonlinear control theory algorithms such as MPC, iLQR, DDP, MPPI, and CEM using only NumPy and Sci… | 23 | 1043 | maintenance |
| PolySync/oscc Open Source Car Control (OSCC) is a collection of hardware designs and C++ firmware/API that enable computer control of modern cars (primar… | 23 | 1039 | maintenance |
| hyye/lio-mapping A C++/ROS implementation of tightly coupled 3D lidar-inertial odometry and mapping (LIO-mapping), published at ICRA 2019. It jointly optimi… | 32 | 1032 | maintenance |
| dwofk/fast-depth FastDepth is the official PyTorch implementation of the ICRA 2019 paper 'FastDepth: Fast Monocular Depth Estimation on Embedded Systems' fr… | 32 | 1026 | maintenance |