Open-source robotics software
246 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.
246 products, primary matches first, then adoption-weighted; health v2 shown.
| Product | Health v2 | Stars | Maturity |
|---|---|---|---|
| OpenTeleVision/TeleVision Open-TeleVision is an open-source immersive robot teleoperation system that streams stereoscopic visual feedback to VR headsets (Apple Visi… | 25 | 1313 | active |
| ZJU-FAST-Lab/GCOPTER GCOPTER is a general-purpose trajectory optimizer for multicopters built on the sparse MINCO trajectory representation. It supports user-de… | 32 | 1306 | active |
| InternRobotics/InternUtopia InternUtopia (formerly GRUtopia) is a Python simulation platform built on NVIDIA Isaac Sim for embodied AI research, supporting diverse rob… | 36 | 1301 | active |
| mjbots/moteus moteus is an open-source brushless DC servo motor controller project containing firmware, PCB hardware designs, and client-side libraries f… | 95 | 1299 | active |
| Dex Retargeting A Python library of retargeting optimizers that translate human hand motion (from video or pose datasets) into robot dexterous hand joint c… | 33 | 1274 | active |
| ethz-asl/rovio ROVIO (Robust Visual Inertial Odometry) is a C++ framework from ETH Zurich that estimates camera and IMU trajectory using an iterated exten… | 74 | 1270 | active |
| menloresearch/asimov-1 Asimov 1 is an open-source 1.2 m, 35 kg humanoid robot with 25 actuated degrees of freedom, released under CERN-OHL-S for hardware and GPL-… | 59 | 1252 | active |
| facebookresearch/home-robot HomeRobot is an open-source robotics stack from Meta AI for mobile manipulation tasks on low-cost hardware like the Hello Robot Stretch. It… | 23 | 1247 | active |
| unitreerobotics/unitree_mujoco A MuJoCo-based simulator for Unitree robots (Go2, B2, H1, G1, etc.) that integrates with Unitree SDK2 control programs in both C++ and Pyth… | 74 | 1229 | active |
| dartsim/dart DART (Dynamic Animation and Robotics Toolkit) is an open-source, research-focused C++ physics engine for robotics, animation, and machine l… | 100 | 1217 | active |
| Cylon.js Cylon.js is a JavaScript/Node.js framework for robotics, physical computing, drones, and IoT. It offers a unified robot definition API with… | 32 | 4209 | maintenance |
| YOPO YOPO is a learning-based one-stage planner for quadrotor autonomous navigation in obstacle-dense environments, integrating perception, mapp… | 76 | 1187 | 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| RepRapFirmware RepRapFirmware is object-oriented C++ firmware for controlling 3D printers and related devices on ARM Cortex-based electronics such as ATSA… | 90 | 1051 | 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| FluidNC Grbl_ESP32 is a port of the Grbl CNC controller firmware to the ESP32 microcontroller, supporting up to 6 coordinated axes, 12 motors, WiFi… | 32 | 1972 | 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| koide3/hdl_localization A ROS package for real-time 3D localization using 3D LIDARs such as Velodyne HDL32e and VLP16. It performs UKF-based pose estimation with I… | 32 | 1026 | maintenance |
| novatic14/MANPADS-System-Launcher-and-Rocket A proof-of-concept launcher and interceptor system built from consumer electronics and 3D-printed components. The project has been disconti… | 51 | 3904 | abandoned |
| Stanford Doggo Stanford Doggo is an open source, ~5kg quadruped robot capable of jumping, flipping, and trotting, designed as an accessible platform for l… | 23 | 2557 | abandoned |
| qiayuanl/legged_control legged_control is a C++ control framework for legged robots combining nonlinear model predictive control (NMPC), whole-body control (WBC), … | 32 | 1809 | abandoned |
| stanfordroboticsclub/StanfordQuadruped Stanford Quadruped hosts the Python control software for Stanford Pupper and Woofer, Raspberry Pi-based open-source quadruped robots that c… | 32 | 1808 | abandoned |
| Genesis World Genesis World is a Python simulation platform for physical AI and robotics that combines a unified multi-physics engine, a photorealistic r… | 95 | 30058 | active |
| Apollo Apollo is an open-source autonomous driving platform providing a high-performance, modular software stack for developing, testing, and depl… | 54 | 26853 | active |
| CARLA Simulator CARLA is an open-source simulator for autonomous driving research built on Unreal Engine, providing open digital assets like urban layouts,… | 67 | 14465 | active |
| RealSense SDK RealSense SDK 2.0 (librealsense) is a cross-platform C++ library for Intel/RealSense depth cameras, providing depth and color streaming plu… | 92 | 9040 | active |
| isaac-sim/IsaacLab Isaac Lab is a GPU-accelerated open-source framework for robot learning built on NVIDIA Isaac Sim, unifying workflows like reinforcement le… | 96 | 8397 | active |
| AidLux (AidLearning) AidLux (originally AidLearning) is an AIoT development platform that runs a native Ubuntu Linux environment with GUI, deep learning tooling… | 63 | 5812 | active |
| isaac-sim/IsaacSim NVIDIA Isaac Sim is an open-source robotics simulation application built on NVIDIA Omniverse for developing, simulating, and testing AI-dri… | 83 | 4283 | active |
| Open Duck Mini Open Duck Mini is an open-source project to build a miniature (~42cm) bipedal robot inspired by Disney's BDX droid, with a bill of material… | 51 | 4208 | active |
| NVlabs/GR00T-WholeBodyControl NVIDIA's unified platform for developing, training, and deploying whole-body controllers for humanoid robots, including the decoupled WBC m… | 60 | 3654 | active |
| pytorch/rl TorchRL is a PyTorch-native library of composable primitives for building reinforcement learning systems, including environments, policies,… | 100 | 3603 | active |
| autorope/donkeycar Donkeycar is an open-source Python library and hardware platform for building small-scale self-driving RC cars with Raspberry Pi or Jetson … | 85 | 3515 | active |
| RainerKuemmerle/g2o g2o is an open-source C++ framework for optimizing graph-based nonlinear error functions, commonly used for nonlinear least squares problem… | 66 | 3466 | stable |
| mani-skill/ManiSkill ManiSkill is an open-source GPU-parallelized robotics simulation framework and benchmark built on SAPIEN, focused on manipulation skills. I… | 85 | 3442 | active |
| mjlab mjlab is a Python framework that combines Isaac Lab's manager-based API with MuJoCo Warp, a GPU-accelerated version of MuJoCo, for reinforc… | 82 | 3163 | active |
| dexmal/dexbotic Dexbotic is an open-source PyTorch-based toolbox for developing Vision-Language-Action (VLA) models for embodied intelligence. It unifies p… | 70 | 3144 | active |