ROS2

A curated list of awesome links and software libraries that are useful for robots.

Connect AI models like Claude & GPT with robots using MCP and ROS.

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM

Deep Reinforcement Learning for mobile robot navigation in ROS Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

中国大学MOOC《机器人操作系统入门》代码示例 ROS tutorial

Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org

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

:taxi: Fast and robust clustering of point clouds generated with a Velodyne sensor.

MAVLink to ROS gateway with proxy for Ground Control Station

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI, M-LOAM, LOCUS, SLICT, MA-LIO, CT-ICP, GenZ-ICP, iG-LIO, SR-LIO application and comparison on Gazebo and real-world datasets. Installation and config files are provided.

Automated, hardware-independent Hand-Eye Calibration

Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2

Code snippets for ROS2

Super Fast and Accurate 3D Object Detection based on 3D LiDAR Point Clouds (The PyTorch implementation)

CarlaAir: Fly Drones Inside a CARLA World!! A Unified Infrastructure for Air-Ground Embodied Intelligence

Autonomous ground robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)

Rust implementation of behavior trees for deterministic AI (now with Python bindings)

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU

Autonomous mobile robots (2WD, 4WD, Mecanum Drive)

A list of projects that were or will be featured in Weekly Robotics newsletter

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

Robotics with GPU computing

ROS 2 docs repository

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

Generic and simple controls framework for ROS 2

Real-time 3D localization using a (velodyne) 3D LIDAR

A template for using VSCode as an IDE for ROS2 development.

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

An image processing pipeline for ROS.

Interactive Map Correction for 3D Graph SLAM

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

Open Source Lighthouse Tracking System

Gibson Environments: Real-World Perception for Embodied Agents

Project AirSim is Microsoft's evolution of AirSim, an advanced simulation platform for building, training, and testing autonomous systems in high-fidelity virtual environments

ROS 2 LiDAR SLAM for pointcloud-map authoring, benchmarking, and Autoware-compatible map workflows.

The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain

C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud

CT-ICP: Continuous-Time LiDAR Odometry

An open source software stack for Real-Time Strategy research on mobile robots

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.

Universal Robots ROS driver supporting CB3 and e-Series

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations

This repository aims at providing examples to illustrate ros2_control and ros2_controllers

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

Multi-threaded and SSE friendly NDT algorithm

🔥ROS(c++)机器人操作系统 学习（写于2020年夏）

Generic robotic controllers to accompany ros2_control