ROS2

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

Open ROS/PX4-based UAV development platform for research, education, and competition.

Learn the basics of robotics through hands-on experience using ROS 2 and Gazebo simulation.

Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

Robotics with GPU computing

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

BehaviorTree.CPP utilities to work with ROS2

Open Source scanning laser rangefinder

MIT Cheetah I Implementation

Langostino - An open-source autonomous drone platform using ROS2 and AI-powered flight control. A complete reference implementation for building, understanding, and extending real-world drone autonomy.

Zero-Drift Point Cloud Mapping using Map Priors

Robot-centric elevation mapping for rough terrain navigation

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

Universal grid map library for mobile robotic mapping

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.

Fully modularized learning framework for legged reactive navigation

YOLO ROS: Real-Time Object Detection for ROS

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam

Doosan robotic arm, simulation, control, visualization in Gazebo and ROS2 for Reinforcement Learning.

[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.

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

基于 Livox MID-360 3D LiDAR 的 ROS 2 自主导航工作空间，集成 LIO 里程计、重定位、Nav2 导航，支持仿真与实机部署。

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

中国大学MOOC《机器人操作系统入门》代码示例 ROS tutorial

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

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

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

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

🔥ROS(c++)机器人操作系统 学习（写于2020年夏）

Terminal RViz is a high-performance 3D visualizer for ROS 2 that runs entirely within a terminal environment. Built using FTXUI and a custom Braille-based software renderer, it provides a feature-rich alternative to standard RViz for headless systems, remote SSH sessions, or resource-constrained environments.

Framework to evaluate peformance of ROS 2

ROS 2 packages for CyberDog

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

Best practices, conventions, and tricks for ROS

开源六轴协作机械臂系统，包含机械结构、电路和软件

Deep Reinforcement Learning for Robotic Grasping from Octrees

A useful collection of CPP and PYTHON examples to learn ROS2 from zero

[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints

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

Interactive Map Correction for 3D Graph SLAM

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

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

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

Multi-threaded and SSE friendly NDT algorithm

ROS-LLM is a framework designed for embodied intelligence applications in ROS. It allows natural language interactions and leverages Large Language Models (LLMs) for decision-making and robot control. With an easy configuration process, this framework allows for swift integration, enabling your robot to operate with it in as little as ten minutes.

A LiDAR odometry pipeline for wheeled mobile robots