Stars
Enabling the Windows Subsystem for Linux to include support for Wayland and X server related scenarios
The Kalibr visual-inertial calibration toolbox
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
Model-based design and verification for robotics.
Universal grid map library for mobile robotic mapping
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Real-time behaviour synthesis with MuJoCo, using Predictive Control
A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
Localization by LiDAR for Humanoid(like Unitree G1)
The Advanced Proximal Optimization Toolbox
Create a rosbag from a given one, using a simple GUI
(ICRA 2025) LiLoc: Lifelong Localization using Adaptive Submap Joining and Egocentric Factor Graph
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System
Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
Low-cost, high speed (600USD, 3 m/s) 1/10 Autonomous ROS RaceCar (with tutorial for beginner)
A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
libmpc++ is a C++ header-only library to solve linear and non-linear MPC
RAPTOR: RAPid and Robust Trajectory Optimization for Robots
mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
Wrappers, tools and additional API's for using ROS with MuJoCo
An Open Source Task Solving library with Constraints