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awesome-robotic-tooling

https://github.com/dbdxnuliba/awesome-robotic-tooling

Last synced: 3 days ago
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Simultaneous Localization and Mapping
- Vector Map
  - OpenDRIVE - An open file format for the logical description of road networks.
  - MapsModelsImporter - A Blender add-on to import models from google maps.
  - Lanelet2 - Map handling framework for automated driving.
  - barefoot - Online and Offline map matching that can be used stand-alone and in the cloud.
  - iD - The easy-to-use OpenStreetMap editor in JavaScript.
  - segmap - A map representation based on 3D segments.
  - Mapbox - A JavaScript library for interactive, customizable vector maps on the web.
  - osrm-backend - Open Source Routing Machine - C++ backend.
  - geopandas - A project to add support for geographic data to pandas objects.
  - MapToolbox - Plugins to make Autoware vector maps in Unity.
  - imagery-index - An index of aerial and satellite imagery useful for mapping.
  - mapillary_tools - A library for processing and uploading images to Mapillary.
  - mapnik - Combines pixel-perfect image output with lightning-fast cartographic algorithms, and exposes interfaces in C++, Python, and Node.
  - gdal - GDAL is an open source X/MIT licensed translator library for raster and vector geospatial data formats.
  - grass - GRASS GIS - free and open source Geographic Information System (GIS).
  - 3d-tiles - Specification for streaming massive heterogeneous 3D geospatial datasets.
  - osmnx - Python for street networks. Retrieve, model, analyze, and visualize street networks and other spatial data from OpenStreetMap.
  - OpenDRIVE - An open file format for the logical description of road networks.
  - assuremapingtools - Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
- Lidar
  - Scan Context - Global LiDAR descriptor for place recognition and long-term localization.
  - loam_velodyne - Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
  - lio-mapping - Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping).
  - A-LOAM - Advanced implementation of LOAM.
  - Fast LOAM - Fast and Optimized Lidar Odometry And Mapping.
  - LIO_SAM - Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping.
  - loam_livox - A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR.
  - StaticMapping - Use LiDAR to map the static world.
  - slam_toolbox - Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS .
  - maplab - An open visual-inertial mapping framework.
  - hdl_graph_slam - An open source ROS package for real-time 6DOF SLAM using a 3D LIDAR.
  - LeGO-LOAM - Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain.
  - pyslam - Contains a monocular Visual Odometry (VO) pipeline in Python.
  - horizon_highway_slam - A robust, low drift, and real time highway SLAM package suitable for Livox Horizon lidar.
  - mola - A Modular System for Localization and Mapping.
  - DH3D - Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DOF Relocalization.
  - LaMa - LaMa is a C++11 software library for robotic localization and mapping.
  - M-LOAM - Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration.
  - cartographer_ros - Provides ROS integration for Cartographer.
- Visual
  - orb_slam_2_ros - A ROS implementation of ORB_SLAM2.
  - orbslam-map-saving-extension - In this extensions the map of ORB-features be saved to the disk as a reference for future runs along the same track.
  - viso2 - A ROS wrapper for libviso2, a library for visual odometry.
  - xivo - X Inertial-aided Visual Odometry.
  - rovio - Robust Visual Inertial Odometry Framework.
  - LSD-SLAM - Large-Scale Direct Monocular SLAM is a real-time monocular SLAM.
  - CubeSLAM and ORB SLAM - Monocular 3D Object Detection and SLAM Package of CubeSLAM and ORB SLAM.
  - VINS-Fusion - A Robust and Versatile Multi-Sensor Visual-Inertial State Estimator.
  - openvslam - OpenVSLAM: A Versatile Visual SLAM Framework.
  - basalt - Visual-Inertial Mapping with Non-Linear Factor Recovery.
  - Kimera - A C++ library for real-time metric-semantic simultaneous localization and mapping, which uses camera images and inertial data to build a semantically annotated 3D mesh of the environment.
  - tagslam - A ROS-based package for Simultaneous Localization and Mapping using AprilTag fiducial markers.
  - LARVIO - A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
  - fiducials - Simultaneous localization and mapping using fiducial markers.
  - open_vins - An open source platform for visual-inertial navigation research.
  - ORB_SLAM3 - ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM.
  - Atlas - End-to-End 3D Scene Reconstruction from Posed Images.
  - vilib - This library focuses on the front-end of VIO pipelines with CUDA.
  - hloc - A modular toolbox for state-of-the-art 6-DoF visual localization. It implements Hierarchical Localization, leveraging image retrieval and feature matching, and is fast, accurate, and scalable.
  - ESVO - A novel pipeline for real-time visual odometry using a stereo event-based camera.
  - gradslam - An open source differentiable dense SLAM library for PyTorch.
Communication and Coordination
- Agile Development - Manifesto for Agile Software Development.
- Gitflow - Makes parallel development very easy, by isolating new development from finished work.
- DeepL - An online translator that outperforms Google, Microsoft and Facebook.
- Taiga - Agile Projectmanagment Tool.
- Kanboard - Minimalistic Kanban Board.
- kanban - Free, open source, self-hosted, Kanban board for GitLab issues.
- Gitlab - Simple Selfhosted Gitlab Server with Docker.
- Gogs - Build a simple, stable and extensible self-hosted Git service that can be setup in the most painless way.
- Wekan - Meteor based Kanban Board.
- JIRA API - Python Library for REST API of Jira.
- Taiga API - Python Library for REST API of Taiga.
- Chronos-Timetracker - Desktop client for JIRA. Track time, upload worklogs without a hassle.
- Grge - Grge is a daemon and command line utility augmenting GitLab.
- Helpy - A modern, open source helpdesk customer support application.
- ONLYOFFICE - A free open source collaborative system developed to manage documents, projects, customer relationship and email correspondence, all in one place.
- discourse - A platform for community discussion. Free, open, simple.
- jitsi-meet - Secure, Simple and Scalable Video Conferences that you use as a standalone app or embed in your web application.
- mattermost - An open source, private cloud, Slack-alternative.
- openproject - The leading open source project management software.
- leantime - Leantime is a lean project management system for innovators.
- gitlab-triage - Gitlab's issues and merge requests triage, automated.
- gitter - Gitter is a chat and networking platform that helps to manage, grow and connect communities through messaging, content and discovery.
Documentation and Presentation
- Typora - A Minimalist Markdown Editor.
- ReadtheDocs - Build your local ReadtheDocs Server.
- undraw - Free Professional business SVGs easy to customize.
- inkscape - Inkscape is a professional vector graphics editor for Linux, Windows and macOS.
- opensourcedesign - Community and Resources for Free Design and Logo Creation.
- olive - A free non-linear video editor aiming to provide a fully-featured alternative to high-end professional video editing software.
- swiftlatex - A WYSIWYG Browser-based LaTeX Editor.
- SVGrepo - Download free SVG Vectors for commercial use.
- Sphinx - A tool that makes it easy to create intelligent and beautiful documentation for Python projects.
- Markor - A Simple Markdown Editor for your Android Device.
- Pandoc - Universal markup converter.
- Yaspeller - Command line tool for spell checking.
- Doxygen - Doxygen is the de facto standard tool for generating documentation from annotated C++ sources.
- Word-to-Markdown - A ruby gem to liberate content from Microsoft Word document.
- paperless - Index and archive all of your scanned paper documents.
- carbon - Share beautiful images of your source code.
- asciinema - Lets you easily record terminal sessions and replay them in a terminal as well as in a web browser.
- Hugo-Webslides - This is a Hugo template to create WebSlides presentation using markdown.
- jupyter2slides - Cloud Native Presentation Slides with Jupyter Notebook + Reveal.js.
- patat - Terminal-based presentations using Pandoc.
- github-changelog-generator - Automatically generate change log from your tags, issues, labels and pull requests on GitHub.
- GitLab-Release-Note-Generator - A Gitlab release note generator that generates release note on latest tag.
- OCRmyPDF - Adds an OCR text layer to scanned PDF files, allowing them to be searched.
- papermill - A tool for parameterizing, executing, and analyzing Jupyter Notebooks.
- docsy - An example documentation site using the Docsy Hugo theme.
- overleaf - An open-source online real-time collaborative LaTeX editor.
- landslide - Generate HTML5 slideshows from markdown, ReST, or textile.
- libreoffice-impress-templates - Freely-licensed LibreOffice Impress templates.
- buku - Browser-independent bookmark manager.
- ReLaXed - Allows complex PDF layouts to be defined with CSS and JavaScript, while writing the content in a friendly, minimal syntax close to Markdown or LaTeX.
- foam - Foam is a personal knowledge management and sharing system inspired by Roam Research, built on Visual Studio Code and GitHub.
- jupyter-book - Build interactive, publication-quality documents from Jupyter Notebooks.
- InvoiceNet - Deep neural network to extract intelligent information from invoice documents.
- tesseract - Open Source OCR Engine.
- PlotNeuralNet - Latex code for drawing neural networks for reports and presentation.
- Excalidraw - Virtual whiteboard for sketching hand-drawn like diagrams.
- gollum - A simple, Git-powered wiki with a sweet API and local frontend.
- GanttLab - The easy to use, fully functional Gantt chart for GitLab and GitHub.
- Zotero - A free, easy-to-use tool to help you collect, organize, cite, and share your research sources.
- Reveal-Hugo - A Hugo theme for Reveal.js that makes authoring and customization a breeze. With it, you can turn any properly-formatted Hugo content into a HTML presentation.
- actions-hugo - Deploy website based on Hugo to GitHub Pages.
- CodiMD - Open Source Online Real-time collaborate on team documentation in markdown.
- mkdocs - A fast, simple and downright gorgeous static site generator that's geared towards building project documentation.
Requirements and Safety
- Automated Valet Parking Safety Documents - Created to support the safe testing of the Automated Valet Parking function using the StreetDrone test vehicle in a car park.
- AUTOSAR Coding Standard - Guidelines for the use of the C++14 language in critical and safety-related system.
- The W-Model and Lean Scaled Agility for Engineering - Ford applied an agile V-Model method from Vector that can be used in safety related project management.
- robmosys - RobMoSys envisions an integrated approach built on top of the current code-centric robotic platforms, by applying model-driven methods and tools.
- awesome-safety-critical - List of resources about programming practices for writing safety-critical software.
- open-autonomous-safety - OAS is a fully open-source library of Voyage's safety processes and testing procedures, designed to supplement existing safety programs at self-driving car startups across the world.
- CarND-Functional-Safety-Project - Create functional safety documents in this Udacity project.
- safe_numerics - Replacements to standard numeric types which throw exceptions on errors.
- doorstop - Requirements management using version control.
- fossology - A toolkit you can run license, copyright and export control scans from the command line.
- ScenarioArchitect - The Scenario Architect is a basic python tool to generate, import and export short scene snapshots.
Architecture and Design
- Guidelines - How to architect ROS-based systems.
- yEd - A powerful desktop application that can be used to quickly and effectively generate high-quality diagrams.
- rqt_graph - Provides a GUI plugin for visualizing the ROS computation graph.
- yed_py - Generates graphML that can be opened in yEd.
- Plantuml - Web application to generate UML diagrams on-the-fly in your live documentation.
- rqt_launchtree - An RQT plugin for hierarchical launchfile configuration introspection.
- cpp-dependencies - Tool to check C++ #include dependencies (dependency graphs created in .dot format).
- pydeps - Python Module Dependency graphs.
- aztarna - A footprinting tool for robots.
- vscode-drawio - This extension integrates Draw.io into VS Code.
Frameworks and Stacks
- ROS - (Robot Operating System) provides libraries and tools to help software developers create robot applications.
- awesome-ros2 - A curated list of awesome Robot Operating System Version 2.0 (ROS 2) resources and libraries.
- Autoware.Auto - Autoware.Auto applies best-in-class software engineering for autonomous driving.
- Autoware.ai - Autoware.AI is the world's first "All-in-One" open-source software for autonomous driving technology.
- Stanford Self Driving Car Code - Stanford Code From Cars That Entered DARPA Grand Challenges.
- Automotive Grade Linux - Automotive Grade Linux is a collaborative open source project that is bringing together automakers, suppliers and technology companies to accelerate the development and adoption of a fully open software stack for the connected car.
- OpenPilot - Open Source Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS).
- Apollo - High performance, flexible architecture which accelerates the development, testing, and deployment of Autonomous Vehicles.
- PythonRobotics - This is a Python code collection of robotics algorithms, especially for autonomous navigation.
- astrobee - Astrobee is a free-flying robot designed to operate as a payload inside the International Space Station (ISS).
- CARMAPlatform - Enables cooperative automated driving plug-in.
- PX4 - An open source flight control software for drones and other unmanned vehicles.
- KubOS - An open-source software stack for satellites.
- mod_vehicle_dynamics_control - TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.
- Aslan - Open source self-driving software for low speed environments.
- open-source-rover - A build-it-yourself, 6-wheel rover based on the rovers on Mars from JPL.
- pybotics - An open-source and peer-reviewed Python toolbox for robot kinematics and calibration.
- makani - Contains the working Makani flight simulator, controller (autopilot), visualizer, and command center flight monitoring tools.
- COMPAS - Robotic fabrication package for the COMPAS Framework.
- JdeRobot Academy - JdeRobot Academy is an open source collection of exercises to learn robotics in a practical way.
- clover - ROS-based framework and RPi image to control PX4-powered drones.
- ArduPilot - Open source control software for autonomous vehicles - copters/planes/rovers/boats/submersibles.
- F Prime - A component-driven framework that enables rapid development and deployment of spaceflight and other embedded software applications.
- mir_robot - This is a community project to use the MiR Robots with ROS.
Development Environment
- Code and Run
  - Sublime - A sophisticated text editor for code, markup and prose.
  - ROS IDEs - This page collects experience and advice on using integrated development environments (IDEs) with ROS.
  - mybinder - Open notebooks in an executable environment, making your code immediately reproducible by anyone, anywhere.
  - Vim-ros - Vim plugin for ROS development.
  - Visual Studio Code - Code editor for edit-build-debug cycle.
  - atom - Hackable text editor for the 21st century.
  - Teletype - Share your workspace with team members and collaborate on code in real time in Atom.
  - ade-cli - The ADE Development Environment (ADE) uses docker and Gitlab to manage environments of per project development tools and optional volume images.
  - recipe-wizard - A Dockerfile generator for running OpenGL (GLX) applications with nvidia-docker2, CUDA, ROS, and Gazebo on a remote headless server system.
  - Jupyter ROS - Jupyter widget helpers for ROS, the Robot Operating System.
  - ros_rqt_plugin - The ROS Qt Creator Plug-in for Python.
  - xeus-cling - Jupyter kernel for the C++ programming language.
  - TabNine - The all-language autocompleter.
  - jedi - Autocompletion and static analysis library for python.
  - roslibpy - Python ROS Bridge library allows to use Python and IronPython to interact with ROS, the open-source robotic middleware.
  - pybind11 - Seamless operability between C++11 and Python.
  - Sourcetrail - Free and open-source cross-platform source explorer.
  - rebound - Command-line tool that instantly fetches Stack Overflow results when an exception is thrown.
  - ROSOnWindows - An experimental release of ROS1 for Windows.
  - live-share - Real-time collaborative development from the comfort of your favorite tools.
  - cocalc - Collaborative Calculation in the Cloud.
  - EasyClangComplete - Robust C/C++ code completion for Sublime Text 3.
  - vscode-ros - Visual Studio Code extension for Robot Operating System (ROS) development.
  - awesome-hpp - A curated list of awesome header-only C++ libraries.
  - Gitpod - An open source developer platform that automates the provisioning of ready-to-code development environments.
- Template
  - ROS - Template for ROS node standardization in C++.
  - Launch - Templates on how to create launch files for larger projects.
  - URDF - Examples on how to create Unified Robot Description Format (URDF) for different kinds of robots.
  - Python - Style guide to be followed in writing Python code for ROS.
  - Docker - The Dockerfile in the minimal-ade project shows a minimal example of how to create a custom base image.
  - Bash - A bash scripting template incorporating best practices & several useful functions.
  - VS Code ROS2 Workspace Template - Template for using VSCode as an IDE for ROS2 development.
- Build and Deploy
  - Cross compile ROS 2 on QNX - Introduces how to cross compile ROS 2 on QNX.
  - ryo-iso - A modern ISO builder that streamlines the process of deploying a complete robot operating system from a yaml config file.
  - rosbuild - The ROS build farm.
  - qemu-user-static - Enable an execution of different multi-architecture containers by QEMU and binfmt_misc.
  - bloom - A release automation tool which makes releasing catkin packages easier.
  - superflore - An extended platform release manager for Robot Operating System.
  - catkin_tools - Command line tools for working with catkin.
  - industrial_ci - Easy continuous integration repository for ROS repositories.
  - ros_gitlab_ci - Contains helper scripts and instructions on how to use Continuous Integration (CI) for ROS projects hosted on a GitLab instance.
  - gitlab-runner - Runs tests and sends the results to GitLab.
  - colcon-core - Command line tool to improve the workflow of building, testing and using multiple software packages.
  - gitlab-release - Simple python3 script to upload files (from ci) to the current projects release (tag).
  - clang - This is a compiler front-end for the C family of languages (C, C++, Objective-C, and Objective-C++) which is built as part of the LLVM compiler infrastructure project.
  - catkin_virtualenv - Bundle python requirements in a catkin package via virtualenv.
  - pyenv - Simple Python version management.
  - aptly - Debian repository management tool.
  - cross_compile - Assets used for ROS2 cross-compilation.
  - docker_images - Official Docker images maintained by OSRF on ROS(2) and Gazebo.
  - robot_upstart - Presents a suite of scripts to assist with launching background ROS processes on Ubuntu Linux PCs.
  - cros - A single thread pure C implementation of the ROS framework.
- Unit and Integration Test
  - UnitTesting - This page lays out the rationale, best practices, and policies for writing and running unit tests and integration tests for ROS.
  - setup-ros - This action sets up a ROS and ROS 2 environment for use in GitHub actions.
  - googletest - Google's C++ test framework.
  - doctest - The fastest feature-rich C++11/14/17/20 single-header testing framework for unit tests and TDD.
  - osrf_testing_tools_cpp - Contains testing tools for C++, and is used in OSRF projects.
  - code_coverage - ROS package to run coverage testing.
  - action-ros-ci - GitHub Action to build and test ROS 2 packages using colcon.
  - pytest - The pytest framework makes it easy to write small tests, yet scales to support complex functional testing.
- Debugging and Tracing
  - inspect - The inspect module provides functions for learning about live objects, including modules, classes, instances, functions, and methods.
  - Roslaunch Nodes in Valgrind or GDB - When debugging roscpp nodes that you are launching with roslaunch, you may wish to launch the node in a debugging program like gdb or valgrind instead.
  - lttng - An open source software toolkit which you can use to simultaneously trace the Linux kernel, user applications, and user libraries.
  - heaptrack - Traces all memory allocations and annotates these events with stack traces.
  - ros2_tracing - Tracing tools for ROS 2.
  - lptrace - It lets you see in real-time what functions a Python program is running.
  - pyre-check - Performant type-checking for python.
  - FlameGraph - Visualize profiled code.
  - gpuvis - GPU Trace Visualizer.
  - sanitizer - AddressSanitizer, ThreadSanitizer, MemorySanitizer.
  - cppinsights - C++ Insights - See your source code with the eyes of a compiler.
  - pyperformance - Python Performance Benchmark Suite.
  - qira - QIRA is a competitor to strace and gdb.
  - gdb-frontend - GDBFrontend is an easy, flexible and extensionable gui debugger.
  - ros2-performance - Allows to easily create arbitrary ROS2 systems and then measures their performance.
  - bcc - Tools for BPF-based Linux IO analysis, networking, monitoring, and more.
  - tracy - A real time, nanosecond resolution, remote telemetry frame profiler for games and other applications.
  - bpftrace - High-level tracing language for Linux eBPF.
  - pudb - Full-screen console debugger for Python.
  - backward-cpp - A beautiful stack trace pretty printer for C++.
  - gdb-dashboard - GDB dashboard is a standalone .gdbinit file written using the Python API that enables a modular interface showing relevant information about the program being debugged.
  - hotspot - The Linux perf GUI for performance analysis.
  - memory_profiler - A python module for monitoring memory consumption of a process as well as line-by-line analysis of memory consumption for python programs.
  - ros1_fuzzer - This fuzzer aims to help developers and researchers to find bugs and vulnerabilities in ROS nodes by performing fuzz tests over topics that the target nodes process.
  - vscode-debug-visualizer - An extension for VS Code that visualizes data during debugging.
  - action-tmate - Debug your GitHub Actions via SSH by using tmate to get access to the runner system itself.
  - libstatistics_collector - ROS 2 library providing classes to collect measurements and calculate statistics across them.
  - system_metrics_collector - Lightweight, real-time system metrics collector for ROS2 systems.
- Lint and Format
  - action-ros-lint - GitHub action to run linters on ROS 2 packages.
  - cppcheck - Static analysis of C/C++ code.
  - hadolint - Dockerfile linter, validate inline bash, written in Haskell.
  - shellcheck - A static analysis tool for shell scripts.
  - catkin_lint - Checks package configurations for the catkin build system of ROS.
  - pylint - Pylint is a Python static code analysis tool which looks for programming errors, helps enforcing a coding standard, sniffs for code smells and offers simple refactoring suggestions.
  - black - The uncompromising Python code formatter.
  - pydocstyle - A static analysis tool for checking compliance with Python docstring conventions.
  - haros - Static analysis of ROS application code.
  - pydantic - Data parsing and validation using Python type hints.
- Version Control
  - git-fuzzy - A CLI interface to git that relies heavily on fzf.
  - meld - Meld is a visual diff and merge tool that helps you compare files, directories, and version controlled projects.
  - tig - Text-mode interface for git.
  - gitg - A graphical user interface for git.
  - git-cola - The highly caffeinated Git GUI.
  - python-gitlab - A Python package providing access to the GitLab server API.
  - bfg-repo-cleaner - Removes large or troublesome blobs like git-filter-branch does, but faster.
  - nbdime - Tools for diffing and merging of Jupyter notebooks.
  - semantic-release - Fully automated version management and package publishing.
  - go-semrel-gitab - Automate version management for Gitlab.
  - dive - A tool for exploring each layer in a docker image.
  - dvc - Management and versioning of datasets and machine learning models.
  - learnGitBranching - A git repository visualizer, sandbox, and a series of educational tutorials and challenges.
  - gitfs - You can mount a remote repository's branch locally, and any subsequent changes made to the files will be automatically committed to the remote.
  - git-secret - Encrypts files with permitted users' public keys, allowing users you trust to access encrypted data using pgp and their secret keys.
  - git-sweep - A command-line tool that helps you clean up Git branches that have been merged into master.
  - lazygit - A simple terminal UI for git commands, written in Go with the gocui library.
  - glab - An open-source GitLab command line tool.
Simulation
- Version Control
  - morse - An academic robotic simulator, based on the Blender Game Engine and the Bullet Physics engine.
  - AI2-THOR - Python framework with a Unity backend providing interaction, navigation, and manipulation support for household based robotic agents, consisting of 200+ of custom scenes, 1500+ custom annotated objects, and 200+ actions.
  - Drake - Drake aims to simulate even very complex dynamics of robots.
  - Webots - Webots is an open source robot simulator compatible (among others) with [ROS](http://wiki.ros.org/webots_ros) and [ROS2](http://wiki.ros.org/webots_ros2).
  - lgsv - LG Electronics America R&D Center has developed an HDRP Unity-based multi-robot simulator for autonomous vehicle developers.
  - carla - Open-source simulator for autonomous driving research.
  - awesome-CARLA - A curated list of awesome CARLA tutorials, blogs, and related projects.
  - ros-bridge - ROS bridge for CARLA Simulator.
  - scenario_runner - Traffic scenario definition and execution engine.
  - deepdive - End-to-end simulation for self-driving cars.
  - uuv_simulator - Gazebo/ROS packages for underwater robotics simulation.
  - AirSim - Open source simulator for autonomous vehicles built on Unreal Engine.
  - self-driving-car-sim - A self-driving car simulator built with Unity.
  - ROSIntegration - Unreal Engine Plugin to enable ROS Support.
  - gym-gazebo - An OpenAI gym extension for using Gazebo known as gym-gazebo.
  - gym-pybullet-drones - PyBullet-based Gym environments for single and multi-agent reinforcement learning of quadcopter control.
  - safe-control-gym - PyBullet-based CartPole and Quadrotor environments—with CasADi symbolic dynamics and constraints—for safe and robust learning-based control.
  - car_demo - This is a simulation of a Prius in gazebo 9 with sensor data being published using ROS kinetic.
  - open-simulation-interface - A generic interface for the environmental perception of automated driving functions in virtual scenarios.
  - Menge - Crowd Simulation Framework.
  - pedsim_ros - Pedestrian simulator powered by the social force model for Gazebo.
  - esmini - A basic OpenSCENARIO player.
  - OpenSceneGraph - An open source high performance 3D graphics toolkit, used by application developers in fields such as visual simulation, games, virtual reality, scientific visualization and modelling.
  - ROSIntegrationVision - Support for ROS-enabled RGBD data acquisition in Unreal Engine Projects.
  - rotors_simulator - Provides some multirotor models.
  - flow - A computational framework for deep RL and control experiments for traffic microsimulation.
  - gnss-ins-sim - GNSS + inertial navigation, sensor fusion simulator. Motion trajectory generator, sensor models, and navigation.
  - gazebo_ros_motors - Contains currently two motor plugins for Gazebo, one with an ideal speed controller and one without a controller that models a DC motor.
  - map2gazebo - ROS package for creating Gazebo environments from 2D maps.
  - sim_vehicle_dynamics - Vehicle Dynamics Simulation Software of TUM Roborace Team.
  - gym-carla - An OpenAI gym wrapper for CARLA simulator.
  - simbody - High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.
  - gazebo_models - This repository holds the Gazebo model database.
  - pylot - Autonomous driving platform running on the CARLA simulator.
  - flightmare - Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation.
  - champ - ROS Packages for CHAMP Quadruped Controller.
  - rex-gym - OpenAI Gym environments for an open-source quadruped robot (SpotMicro).
  - Trick - Developed at the NASA Johnson Space Center, is a powerful simulation development framework that enables users to build applications for all phases of space vehicle development.
  - usv_sim_lsa - Unmanned Surface Vehicle simulation on Gazebo with water current and winds.
  - 42 - Simulation for spacecraft attitude control system analysis and design.
  - Complete_Street_Rule - A scenario oriented design tool intended to enable users to quickly create procedurally generated multimodal streets in ArcGIS CityEngine.
  - fields-ignition - Generate random crop fields for Ignition Gazebo.
  - Unity-Robotics-Hub - Central repository for tools, tutorials, resources, and documentation for robotic simulation in Unity.
  - BlueSky - The goal of BlueSky is to provide everybody who wants to visualize, analyze or simulate air traffic with a tool to do so without any restrictions, licenses or limitations.
  - Cloe - Empowers developers of automated-driving software components by providing a unified interface to closed-loop simulation.
  - Dynamic_logistics_Warehouse - Gazebo simulation of dynamics environment in warehouses.
  - OpenCDA - A generalized framework for prototyping full-stack cooperative driving automation applications under CARLA+SUMO.
  - opencrg - Open file formats and open source tools for the detailed description, creation and evaluation of road surfaces.
  - highway-env - A collection of environments for autonomous driving and tactical decision-making tasks.
  - sumo - Eclipse SUMO is an open source, highly portable, microscopic and continuous road traffic simulation package designed to handle large road networks.
  - ESIM - An Open Event Camera Simulator.
  - fetch_gazebo - Contains the Gazebo simulation for Fetch Robotics Fetch and Freight Research Edition Robots.
  - simulation assets for the SubT - This collection contains simulation assets for the SubT Challenge Virtual Competition in Gazebo.
Sensor Processing
- Calibration and Transformation
  - tf2 - Transform library, which lets the user keep track of multiple coordinate frames over time.
  - lidar_align - A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor.
  - kalibr - The Kalibr visual-inertial calibration toolbox.
  - Calibnet - Self-Supervised Extrinsic Calibration using 3D Spatial Transformer Networks.
  - lidar_camera_calibration - ROS package to find a rigid-body transformation between a LiDAR and a camera.
  - ILCC - Reflectance Intensity Assisted Automatic and Accurate Extrinsic Calibration of 3D LiDAR.
  - easy_handeye - Simple, straighforward ROS library for hand-eye calibration.
  - imu_utils - A ROS package tool to analyze the IMU performance.
  - kalibr_allan - IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.
  - pyquaternion - A full-featured Python module for representing and using quaternions.
  - LiDARTag - A Real-Time Fiducial Tag using Point Clouds Lidar Data.
  - multicam_calibration - Extrinsic and intrinsic calbration of cameras.
  - ikpy - An Inverse Kinematics library aiming performance and modularity.
  - livox_camera_lidar_calibration - Calibrate the extrinsic parameters between Livox LiDAR and camera.
  - lidar_camera_calibration - Camera LiDAR Calibration using ROS, OpenCV, and PCL.
  - e2calib - Contains code that implements video reconstruction from event data for calibration.
  - TriP - A Inverse Kinematics library for serial robots, parallel robots and hybrids of both.
  - robot_calibration - This package offers calibration of a number of parameters of a robot, such as: 3D Camera intrinsics, extrinsics Joint angle offsets and robot frame offsets.
  - multi_sensor_calibration - Contains a calibration tool to calibrate a sensor setup consisting of lidars, radars and cameras.
- Machine Learning
  - Awesome-Mobile-Machine-Learning - A curated list of awesome mobile machine learning resources for iOS, Android, and edge devices.
  - DLIB - A toolkit for making real world machine learning and data analysis applications in C++.
  - fastai - The fastai library simplifies training fast and accurate neural nets using modern best practices.
  - tpot - A Python Automated Machine Learning tool that optimizes machine learning pipelines using genetic programming.
  - deap - Distributed Evolutionary Algorithms in Python.
  - gym - A toolkit for developing and comparing reinforcement learning algorithms.
  - tensorflow_ros_cpp - A ROS package that allows to do Tensorflow inference in C++ without the need to compile TF yourself.
  - finn - Fast, Scalable Quantized Neural Network Inference on FPGAs.
  - neuropod - Neuropod is a library that provides a uniform interface to run deep learning models from multiple frameworks in C++ and Python.
  - leela-zero - This is a fairly faithful reimplementation of the system described in the Alpha Go Zero paper "Mastering the Game of Go without Human Knowledge".
  - Trax - A library for deep learning that focuses on sequence models and reinforcement learning.
  - mlflow - A platform to streamline machine learning development, including tracking experiments, packaging code into reproducible runs, and sharing and deploying models.
  - Netron - Visualizer for neural network, deep learning and machine learning models.
  - MNN - A blazing fast, lightweight deep learning framework, battle-tested by business-critical use cases in Alibaba.
  - Tensorforce - An open-source deep reinforcement learning framework, with an emphasis on modularized flexible library design and straightforward usability for applications in research and practice.
  - Dopamine - A research framework for fast prototyping of reinforcement learning algorithms.
  - catalyst - Was developed with a focus on reproducibility, fast experimentation and code/ideas reusing.
  - ray - A fast and simple framework for building and running distributed applications.
  - tf-agents - A reliable, scalable and easy to use TensorFlow library for Contextual Bandits and Reinforcement Learning.
  - ReAgent - An open source end-to-end platform for applied reinforcement learning (RL) developed and used at Facebook.
  - cnn-explainer - Learning Convolutional Neural Networks with Interactive Visualization.
  - modelzoo - A collection of machine-learned models for use in autonomous driving applications.
  - nnstreamer-ros - A set of Gstreamer plugins and ROS examples that allow Gstreamer developers to adopt neural network models easily and efficiently and neural network developers to manage neural network pipelines and their filters easily and efficiently.
  - Tensorflow Federated - TensorFlow Federated (TFF) is an open-source framework for machine learning and other computations on decentralized data.
- Parallel Processing
  - OpenMP - An application programming interface that supports multi-platform shared memory multiprocessing programming in C, C++, and Fortran.
  - dask - Parallel computing with task scheduling for Python.
  - cupy - NumPy-like API accelerated with CUDA.
  - ArrayFire - A general purpose GPU library.
  - VexCL - VexCL is a C++ vector expression template library for OpenCL/CUDA/OpenMP.
  - PYNQ - An open-source project from Xilinx that makes it easy to design embedded systems with Zynq All Programmable Systems on Chips.
  - numba - NumPy aware dynamic Python compiler using LLVM.
  - TensorRT - A C++ library for high performance inference on NVIDIA GPUs and deep learning accelerators.
  - libcudacxx - Provides a heterogeneous implementation of the C++ Standard Library that can be used in and between CPU and GPU code.
  - Thrust - A C++ parallel programming library which resembles the C++ Standard Library.
- Image Processing
  - gstreamer - A pipeline-based multimedia framework that links together a wide variety of media processing systems to complete complex workflows.
  - tf-pose-estimation - Deep Pose Estimation implemented using Tensorflow with Custom Architectures for fast inference.
  - OpenVX - Enables performance and power-optimized computer vision processing, especially important in embedded and real-time use cases.
  - CV-pretrained-model - A collection of computer vision pre-trained models.
  - image_pipeline - Fills the gap between getting raw images from a camera driver and higher-level vision processing.
  - ros2_openvino_toolkit - Provides a ROS-adaptered runtime framework of neural network which quickly deploys applications and solutions for vision inference.
  - vision_visp - Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package.
  - apriltag_ros - A ROS wrapper of the AprilTag 3 visual fiducial detector.
  - deep_object_pose - Deep Object Pose Estimation.
  - DetectAndTrack - Detect-and-Track: Efficient Pose.
  - SfMLearner - An unsupervised learning framework for depth and ego-motion estimation.
  - imgaug - Image augmentation for machine learning experiments.
  - vision_opencv - Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.
  - darknet_ros - YOLO ROS: Real-Time Object Detection for ROS.
  - ros_ncnn - YOLACT / YOLO *( among other things )* on NCNN inference engine for ROS.
  - find-object - Simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors.
  - yolact - A simple, fully convolutional model for real-time instance segmentation.
  - Kimera-Semantics - Real-Time 3D Semantic Reconstruction from 2D data.
  - detectron2 - A next-generation research platform for object detection and segmentation.
  - 3d-vehicle-tracking - Official implementation of Joint Monocular 3D Vehicle Detection and Tracking.
  - pysot - The goal of PySOT is to provide a high-quality, high-performance codebase for visual tracking research.
  - semantic_slam - Real time semantic slam in ROS with a hand held RGB-D camera.
  - kitti_scan_unfolding - We propose KITTI scan unfolding in our paper Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study.
  - packnet-sfm - Official PyTorch implementation of self-supervised monocular depth estimation methods invented by the ML Team at Toyota Research Institute (TRI).
  - AB3DMOT - This work proposes a simple yet accurate real-time baseline 3D multi-object tracking system.
  - monoloco - Official implementation of "MonoLoco: Monocular 3D Pedestrian Localization and Uncertainty Estimation" in PyTorch.
  - Poly-YOLO - Builds on the original ideas of YOLOv3 and removes two of its weaknesses: a large amount of rewritten labels and inefficient distribution of anchors.
  - robosat - Semantic segmentation on aerial and satellite imagery.
  - big_transfer - Model for General Visual Representation Learning created by Google Research.
  - LEDNet - A Lightweight Encoder-Decoder Network for Real-time Semantic Segmentation.
  - meshroom - Meshroom is a free, open-source 3D Reconstruction Software based on the AliceVision Photogrammetric Computer Vision framework.
  - EasyOCR - Ready-to-use Optical character recognition (OCR) with 40+ languages supported including Chinese, Japanese, Korean and Thai.
  - pytracking - A general python framework for visual object tracking and video object segmentation, based on PyTorch.
  - ros_deep_learning - Deep learning inference nodes for ROS with support for NVIDIA Jetson TX1/TX2/Xavier and TensorRT.
  - hyperpose - HyperPose: A Flexible Library for Real-time Human Pose Estimation.
  - fawkes - Privacy preserving tool against facial recognition systems.
  - anonymizer - An anonymizer to obfuscate faces and license plates.
  - opendatacam - Only saves surveyed meta-data, in particular the path an object moved or number of counted objects at a certain point.
  - Cam2BEV - TensorFlow Implementation for Computing a Semantically Segmented Bird's Eye View (BEV) Image Given the Images of Multiple Vehicle-Mounted Cameras.
  - flownet2-pytorch - Pytorch implementation of FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networks.
  - Simd - C++ image processing and machine learning library with using of SIMD: SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2, AVX, AVX2, AVX-512, VMX(Altivec) and VSX(Power7), NEON for ARM.
  - AliceVision - A Photogrammetric Computer Vision Framework which provides a 3D Reconstruction and Camera Tracking algorithms.
  - satpy - A python library for reading and manipulating meteorological remote sensing data and writing it to various image and data file formats.
  - eo-learn - A collection of open source Python packages that have been developed to seamlessly access and process spatio-temporal image sequences acquired by any satellite fleet in a timely and automatic manner.
  - libvips - A fast image processing library with low memory needs.
  - TorchSeg - This project aims at providing a fast, modular reference implementation for semantic segmentation models using PyTorch.
- Lidar and Point Cloud Processing
  - gpu-voxels - GPU-Voxels is a CUDA based library which allows high resolution volumetric collision detection between animated 3D models and live pointclouds from 3D sensors of all kinds.
  - cilantro - A lean C++ library for working with point cloud data.
  - SqueezeSeg - Implementation of SqueezeSeg, convolutional neural networks for LiDAR point clout segmentation.
  - point_cloud_io - ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).
  - python-pcl - Python bindings to the pointcloud library.
  - depth_clustering - Fast and robust clustering of point clouds generated with a Velodyne sensor.
  - lidar-bonnetal - Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving.
  - CSF - LiDAR point cloud ground filtering / segmentation (bare earth extraction) method based on cloth simulation.
  - robot_body_filter - A highly configurable LaserScan/PointCloud2 filter that allows to dynamically remove the 3D body of the robot from the measurements.
  - grid_map - Universal grid map library for mobile robotic mapping.
  - elevation_mapping - Robot-centric elevation mapping for rough terrain navigation.
  - rangenet_lib - Contains simple usage explanations of how the RangeNet++ inference works with the TensorRT and C++ interface.
  - pointcloud_to_laserscan - Converts a 3D Point Cloud into a 2D laser scan.
  - octomap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees.
  - pptk - Point Processing Toolkit from HEREMaps.
  - spatio_temporal_voxel_layer - A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations.
  - LAStools - Award-winning software for efficient LiDAR processing.
  - PDAL - A C++ BSD library for translating and manipulating point cloud data.
  - PotreeConverter - Builds a potree octree from las, laz, binary ply, xyz or ptx files.
  - ndt_omp - Multi-threaded and SSE friendly NDT algorithm.
  - laser_line_extraction - A ROS packages that extracts line segments from LaserScan messages.
  - Go-ICP - Implementation of the Go-ICP algorithm for globally optimal 3D pointset registration.
  - PointCNN - A simple and general framework for feature learning from point clouds.
  - MotionNet - Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Maps.
  - PolarSeg - An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation.
  - traversability_mapping - Takes in point cloud from a Velodyne VLP-16 Lidar and outputs a traversability map for autonomous navigation in real-time.
  - lidar_super_resolution - Simulation-based Lidar Super-resolution for Ground Vehicles.
  - Cupoch - A library that implements rapid 3D data processing and robotics computation using CUDA.
  - linefit_ground_segmentation - Implementation of the ground segmentation algorithm.
  - Draco - A library for compressing and decompressing 3D geometric meshes and point clouds.
  - Votenet - Deep Hough Voting for 3D Object Detection in Point Clouds.
  - lidar_undistortion - Provides lidar motion undistortion based on an external 6DoF pose estimation input.
  - superpoint_graph - Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs.
  - RandLA-Net - Efficient Semantic Segmentation of Large-Scale Point Clouds.
  - OverlapNet - A modified Siamese Network that predicts the overlap and relative yaw angle of a pair of range images generated by 3D LiDAR scans.
  - mp2p_icp - A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++.
  - OpenPCDet - A Toolbox for LiDAR-based 3D Object Detection.
  - torch-points3d - Pytorch framework for doing deep learning on point clouds.
  - PolyFit - Polygonal Surface Reconstruction from Point Clouds.
  - mmdetection3d - Next-generation platform for general 3D object detection.
  - gpd - Takes a point cloud as input and produces pose estimates of viable grasps as output.
  - SalsaNext - Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving.
  - kaolin - A PyTorch Library for Accelerating 3D Deep Learning Research.
  - CamVox - A low-cost SLAM system based on camera and Livox lidar.
  - SA-SSD - Structure Aware Single-stage 3D Object Detection from Point Cloud.
  - urban_road_filter - Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles.
  - open3d - Open3D: A Modern Library for 3D Data Processing.
  - libpointmatcher - An "Iterative Closest Point" library for 2-D/3-D mapping in Robotics.
  - PCDet - A general PyTorch-based codebase for 3D object detection from point cloud.
  - Det3D - A first 3D Object Detection toolbox which provides off the box implementations of many 3D object detection algorithms such as PointPillars, SECOND, PIXOR.
  - cuda-pcl - Accelerating Lidar for Robotics with NVIDIA CUDA-based PCL.
- Perception Pipeline
  - SARosPerceptionKitti - ROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark Suite.
  - multiple-object-tracking-lidar - C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud.
  - AugmentedAutoencoder - RGB-based pipeline for object detection and 6D pose estimation.
  - jsk_recognition - A stack for the perception packages which are used in JSK lab.
  - GibsonEnv - Gibson Environments: Real-World Perception for Embodied Agents.
  - morefusion - Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion.
  - se(3)-TrackNet - A package for 6D pose tracking of dynamic objects when object's CAD model is available.
- Radar Processing
  - pyroSAR - Framework for large-scale SAR satellite data processing.
  - CameraRadarFusionNet - TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.
Localization and State Estimation
- Lidar and Point Cloud Processing
  - gLAB - Performs precise modeling of GNSS observables (pseudorange and carrier phase) at the centimetre level, allowing standalone GPS positioning, PPP, SBAS and DGNSS.
  - evo - Python package for the evaluation of odometry and SLAM.
  - robot_localization - A package of nonlinear state estimation nodes.
  - fuse - General architecture for performing sensor fusion live on a robot.
  - GeographicLib - A C++ library for geographic projections.
  - ntripbrowser - A Python API for browsing NTRIP (Networked Transport of RTCM via Internet Protocol).
  - RTKLIB - A version of RTKLIB optimized for single and dual frequency low cost GPS receivers, especially u-blox receivers.
  - ai-imu-dr - Contains the code of our novel accurate method for dead reckoning of wheeled vehicles based only on an IMU.
  - Kalman-and-Bayesian-Filters-in-Python - Kalman Filter book using Jupyter Notebook.
  - mcl_3dl - A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s).
  - se2lam - On-SE(2) Localization and Mapping for Ground Vehicles by Fusing Odometry and Vision.
  - mmWave-localization-learning - ML-based positioning method from mmWave transmissions - with high accuracy and energy efficiency.
  - dynamic_robot_localization - A ROS package that offers 3 DoF and 6 DoF localization using PCL and allows dynamic map update using OctoMap.
  - eagleye - An open-source software for vehicle localization utilizing GNSS and IMU.
  - python-sgp4 - Python version of the SGP4 satellite position library.
  - PROJ - Cartographic Projections and Coordinate Transformations Library.
  - rpg_trajectory_evaluation - Implements common used trajectory evaluation methods for visual(-inertial) odometry.
  - pymap3d - Pure-Python (Numpy optional) 3D coordinate conversions for geospace ecef enu eci.
  - libRSF - A robust sensor fusion library for online localization.
  - imu_tools - IMU-related filters and visualizers.
Behavior and Decision
- Vector Map
  - FlexBE - Graphical editor for hierarchical state machines, based on ROS's smach.
  - Groot - Graphical Editor to create BehaviorTrees. Compliant with BehaviorTree.CPP.
  - BehaviorTree.CPP - Behavior Trees Library in C++.
  - RAFCON - Uses hierarchical state machines, featuring concurrent state execution, to represent robot programs.
  - ROSPlan - Generic framework for task planning in a ROS system.
  - ad-rss-lib - Library implementing the Responsibility Sensitive Safety model (RSS) for Autonomous Vehicles.
  - sts_bt_library - This library provides the functionality to set up your own behavior tree logic by using the defined tree structures like Fallback, Sequence or Parallel Nodes.
  - py_trees_ros - Behaviours, trees and utilities that extend py_trees for use with ROS.
Planning and Control
- Vector Map
  - HypridAStarTrailer - A path planning algorithm based on Hybrid A* for trailer truck.
  - commonroad - Composable benchmarks for motion planning on roads.
  - moveit - Easy-to-use robotics manipulation platform for developing applications, evaluating designs, and building integrated products.
  - mpcc - Model Predictive Contouring Controller for Autonomous Racing.
  - rrt - C++ RRT (Rapidly-exploring Random Tree) implementation.
  - path_planner - Hybrid A* Path Planner for the KTH Research Concept Vehicle.
  - open_street_map - ROS packages for working with Open Street Map geographic information.
  - Open Source Car Control - An assemblage of software and hardware designs that enable computer control of modern cars in order to facilitate the development of autonomous vehicle technology.
  - fastrack - A ROS implementation of Fast and Safe Tracking (FaSTrack).
  - steering_functions - Contains a C++ library that implements steering functions for car-like robots with limited turning radius.
  - flexible-collision-library - A library for performing three types of proximity queries on a pair of geometric models composed of triangles.
  - aikido - Artificial Intelligence for Kinematics, Dynamics, and Optimization.
  - casADi - A symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs.
  - ACADO Toolkit - A software environment and algorithm collection for automatic control and dynamic optimization.
  - control-toolbox - An efficient C++ library for control, estimation, optimization and motion planning in robotics.
  - CrowdNav - Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning.
  - ompl - Consists of many state-of-the-art sampling-based motion planning algorithms.
  - openrave - Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
  - teb_local_planner - An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands.
  - pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.
  - rmf_core - The rmf_core packages provide the centralized functions of the Robotics Middleware Framework (RMF).
  - OpEn - A solver for Fast & Accurate Embedded Optimization for next-generation Robotics and Autonomous Systems.
  - global_racetrajectory_optimization - This repository contains multiple approaches for generating global racetrajectories.
  - toppra - A library for computing the time-optimal path parametrization for robots subject to kinematic and dynamic constraints.
  - tinyspline - TinySpline is a small, yet powerful library for interpolating, transforming, and querying arbitrary NURBS, B-Splines, and Bézier curves.
  - dual quaternions ros - ROS python package for dual quaternion SLERP.
  - ilqr - Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models.
  - EGO-Planner - A lightweight gradient-based local planner without ESDF construction, which significantly reduces computation time compared to some state-of-the-art methods.
  - pykep - A scientific library providing basic tools for research in interplanetary trajectory design.
  - am_traj - Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight.
  - GraphBasedLocalTrajectoryPlanner - Was used on a real race vehicle during the Roborace Season Alpha and achieved speeds above 200km/h.
  - se2_navigation - Pure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space.
  - pacmod - Designed to allow the user to control a vehicle with the PACMod drive-by-wire system.
  - mb planner - Aerial vehicle planner for tight spaces. Used in DARPA SubT Challenge.
  - mb planner - Aerial vehicle planner for tight spaces. Used in DARPA SubT Challenge.
  - traffic-editor - A graphical editor for robot traffic flows.
  - autogenu-jupyter - This project provides the continuation/GMRES method (C/GMRES method) based solvers for nonlinear model predictive control (NMPC) and an automatic code generator for NMPC.
User Interaction
- Graphical User Interface
  - rqt - A Qt-based framework for GUI development for ROS. It consists of three parts/metapackages.
  - dynamic_reconfigure - The focus of dynamic_reconfigure is on providing a standard way to expose a subset of a node's parameters to external reconfiguration.
  - imgui - Designed to enable fast iterations and to empower programmers to create content creation tools and visualization / debug tools.
  - qtpy - Provides an uniform layer to support PyQt5, PySide2, PyQt4 and PySide with a single codebase.
  - pencil - A tool for making diagrams and GUI prototyping that everyone can use.
  - ddynamic_reconfigure - Allows modifying parameters of a ROS node using the dynamic_reconfigure framework without having to write cfg files.
  - elements - A lightweight, fine-grained, resolution independent, modular GUI library.
  - NanoGUI - A minimalistic cross-platform widget library for OpenGL 3.x or higher.
  - mir - Mir is set of libraries for building Wayland based shells.
  - cage - This is Cage, a Wayland kiosk. A kiosk runs a single, maximized application.
- Command Line Interface
  - terminator - The goal of this project is to produce a useful tool for arranging terminals.
  - the-art-of-command-line - Master the command line, in one page.
  - dotfiles of cornerman - Powerful zsh and vim dotfiles.
  - dotbot - A tool that bootstraps your dotfiles.
  - prompt-hjem - A beautiful zsh prompt.
  - ag - A code-searching tool similar to ack, but faster.
  - fzf - A command-line fuzzy finder.
  - pkgtop - Interactive package manager and resource monitor designed for the GNU/Linux.
  - asciimatics - A cross platform package to do curses-like operations, plus higher level APIs and widgets to create text UIs and ASCII art animations.
  - gocui - Minimalist Go package aimed at creating Console User Interfaces.
  - TerminalImageViewer - Small C++ program to display images in a (modern) terminal using RGB ANSI codes and unicode block graphics characters.
  - rosshow - Visualize ROS topics inside a terminal with Unicode/ASCII art.
  - python-prompt-toolkit - Library for building powerful interactive command line applications in Python.
  - guake - Drop-down terminal for GNOME.
  - wemux - Multi-User Tmux Made Easy.
  - tmuxp - A session manager built on libtmux.
  - mapscii - World map renderer for your console.
  - bat - A cat(1) clone with wings.
  - fx - Command-line tool and terminal JSON viewer.
  - tmate - Instant terminal sharing.
- Acoustic User Interface
  - pyo - A Python module written in C containing classes for a wide variety of audio signal processing types.
  - rhasspy - Rhasspy (pronounced RAH-SPEE) is an offline, multilingual voice assistant toolkit inspired by Jasper that works well with Home Assistant, Hass.io, and Node-RED.
  - mycroft-core - Mycroft is a hackable open source voice assistant.
  - DDSP - A library of differentiable versions of common DSP functions (such as synthesizers, waveshapers, and filters).
  - NoiseTorch - Creates a virtual microphone that suppresses noise, in any application.
  - DeepSpeech - An open source Speech-To-Text engine, using a model trained by machine learning techniques based on Baidu's Deep Speech research paper.
  - waveglow - A Flow-based Generative Network for Speech Synthesis.
  - TTS - A deep learning toolkit for Text-to-Speech, battle-tested in research and production.
Data Visualization and Mission Control
- Command Line Interface
  - guacamole - Clientless remote desktop gateway. It supports standard protocols like VNC, RDP, and SSH.
  - rqt_bag - Provides a GUI plugin for displaying and replaying ROS bag files.
  - K3D-tools - Jupyter notebook extension for 3D visualization.
  - xdot - Interactive viewer for graphs written in Graphviz's dot language.
  - ros3djs - 3D Visualization Library for use with the ROS JavaScript Libraries.
  - webviz - Web-based visualization libraries like rviz.
  - plotly.py - An open-source, interactive graphing library for Python.
  - PlotJuggler - The timeseries visualization tool that you deserve.
  - bokeh - Interactive Data Visualization in the browser, from Python.
  - voila - From Jupyter notebooks to standalone web applications and dashboards.
  - Pangolin - Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
  - kepler.gl - Kepler.gl is a powerful open source geospatial analysis tool for large-scale data sets.
  - qgis_ros - Access bagged and live topic data in a highly featured GIS environment.
  - openmct - A web based mission control framework.
  - web_video_server - HTTP Streaming of ROS Image Topics in Multiple Formats.
  - RVizWeb - Provides a convenient way of building and launching a web application with features similar to RViz.
  - marvros - MAVLink to ROS gateway with proxy for Ground Control Station.
  - urdf-loaders - URDF Loaders for Unity and THREE.js with example ATHLETE URDF File.
  - obs-studio - Free and open source software for live streaming and screen recording.
  - PyQtGraph - Fast data visualization and GUI tools for scientific / engineering applications.
  - Foxglove Studio - Web and desktop app for robotics visualization and debugging; actively maintained fork of webviz.
  - ROS-Mobile - Visualization and controlling application for Android.
  - streetscape.gl - Streetscape.gl is a toolkit for visualizing autonomous and robotics data in the XVIZ protocol.
- RViz
  - rviz stereo - 3D stereo rendering displays a different view to each eye so that the scene appears to have depth.
  - mapviz - Modular ROS visualization tool for 2D data.
  - rviz_cinematographer - Easy to use tools to create and edit trajectories for the rviz camera.
  - rviz_visual_tools - C++ API wrapper for displaying shapes and meshes in Rviz.
  - xpp - Visualization of motion-plans for legged robots.
  - jsk_visualization - Jsk visualization ros packages for rviz and rqt.
  - moveit_visual_tools - Helper functions for displaying and debugging MoveIt! data in Rviz via published markers.
- Annotation
  - PixelAnnotationTool - Annotate quickly images.
  - point_labeler - Tool for labeling of a single point clouds or a stream of point clouds.
  - napari - A fast, interactive, multi-dimensional image viewer for python.
  - semantic-segmentation-editor - A web based labeling tool for creating AI training data sets (2D and 3D).
  - 3d-bat - 3D Bounding Box Annotation Tool for Point cloud and Image Labeling.
  - universal-data-tool - Collaborate & label any type of data, images, text, or documents, in an easy web interface or desktop app.
  - BMW-Labeltool-Lite - Provides you with a easy to use labeling tool for State-of-the-art Deep Learning training purposes.
  - 3d-annotation-tool - Lightweight tool to annotate point clouds with bounding boxes, rectangles, keypoints and more.
  - labelbox - The fastest way to annotate data to build and ship artificial intelligence applications.
  - labelme - Image Polygonal Annotation with Python (polygon, rectangle, circle, line, point and image-level flag annotation).
- Point Cloud
  - CloudCompare - CloudCompare is a 3D point cloud (and triangular mesh) processing software.
  - Potree - WebGL point cloud viewer for large datasets.
  - LidarView - Performs real-time visualization and easy processing of live captured 3D LiDAR data from Lidar sensors.
  - VeloView - Performs real-time visualization of live captured 3D LiDAR data from Velodyne's HDL sensors.
  - polyscope - A C++ & Python viewer for 3D data like meshes and point clouds.
  - Pcx - Point cloud importer & renderer for Unity.
  - ImmersivePoints - A web-application for virtual reality devices to explore 3D data in the most natural way possible.
Operation System
- Database and Record
  - ncdu - Ncdu is a disk usage analyzer with an ncurses interface.
- Embedded Operation System
  - Yocto - Produce tools and processes that enable the creation of Linux distributions for embedded software that are independent of the underlying architecture of the embedded hardware.
  - Xen - An open-source (GPL) type-1 or baremetal hypervisor.
  - QEMU - A generic and open source machine emulator and virtualizer.
  - meta-ros - OpenEmbedded Layer for ROS Applications.
  - Pressed - Provides a way to set answers to questions asked during the installation process of debian, without having to manually enter the answers while the installation is running.
- Real-Time Kernel
  - PREEMPT_RT kernel patch - Aim of the PREEMPT_RT kernel patch is to minimize the amount of kernel code that is non-preemptible.
  - ELISA - Project is to make it easier for companies to build and certify Linux-based safety-critical applications – systems whose failure could result in loss of human life, significant property damage or environmental damage.
- Monitoring
  - rosmon - ROS node launcher & monitoring daemon.
  - multimaster_fkie - GUI-based management environment that is very useful to manage ROS-launch configurations and control running nodes.
Network and Middleware
- Real-Time Kernel
  - eCAL - The enhanced communication abstraction layer (eCAL) is a middleware that enables scalable, high performance interprocess communication on a single computer node or between different nodes in a computer network.
  - AUTOSAR-Adaptive - The implementation of AUTOSAR Adaptive Platform based on the R19-11.
- Ethernet and Wireless Networking
  - netplan - Simply create a YAML description of the required network interfaces and what each should be configured to do.
  - airalab - AIRA is reference Robonomics network client for ROS-enabled cyber-physical systems.
  - rdbox - RDBOX is a IT infrastructure for ROS robots.
Security
- Sensor and Acuator Interfaces
  - ros2_dds_security - Adding security enhancements by defining a Service Plugin Interface (SPI) architecture, a set of builtin implementations of the SPIs, and the security model enforced by the SPIs.
  - pass - The standard unix password manager.
Datasets
- Sensor and Acuator Interfaces
  - Ford Autonomous Vehicle Dataset - Ford presents a challenging multi-agent seasonal dataset collected by a fleet of Ford autonomous vehicles at different days and times.
  - adas-dataset-form - Thermal Dataset for Algorithm Training.
  - h3d - The H3D is a large scale full-surround 3D multi-object detection and tracking dataset from Honda.
  - TensorFlow Datasets - TensorFlow Datasets provides many public datasets as tf.data.Datasets.
  - Lyft Level 5 Dataset - Level 5 is developing a self-driving system for the Lyft network. We're collecting and processing data from our autonomous fleet and sharing it with you.
  - UTD19 - Largest multi-city traffic dataset publically available.
  - ASTYX HIRES2019 DATASET - Automotive Radar Dataset for Deep Learning Based 3D Object Detection.
  - ONCE dataset - A large-scale autonomous driving dataset with 2D&3D object annotations.
  - Mapillary Vistas Dataset - A diverse street-level imagery dataset with pixel‑accurate and instance‑specific human annotations for understanding street scenes around the world.
Footnotes
- Sensor and Acuator Interfaces
  - xpp
Electronics and Mechanics
- Version Control
  - HRIM - An information model for robot hardware.
  - URDF - Repository for Unified Robot Description Format (URDF) parsing code.
  - phobos - An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.
  - solidworks_urdf_exporter - SolidWorks to URDF Exporter.
  - FreeCAD - Your own 3D parametric modeler.
  - PcbDraw - Convert your KiCAD board into a nice looking 2D drawing suitable for pinout diagrams.
  - LibrePCB - A powerful, innovative and intuitive EDA tool for everyone.
  - openscad - A software for creating solid 3D CAD models.
  - GNSS-SDR - GNSS-SDR provides interfaces for a wide range of radio frequency front-ends and raw sample file formats, generates processing outputs in standard formats.
  - urdfpy - A simple and easy-to-use library for loading, manipulating, saving, and visualizing URDF files.
  - FMPy - Simulate Functional Mockup Units (FMUs) in Python.
  - FMIKit-Simulink - Import and export Functional Mock-up Units with Simulink.
  - oemof-solph - A modular open source framework to model energy supply systems.
  - NASA-3D-Resources - Here you'll find a growing collection of 3D models, textures, and images from inside NASA.
  - SUAVE - An Aircraft Design Toolbox.
  - opem - The Open-Source PEMFC Simulation Tool (OPEM) is a modeling tool for evaluating the performance of proton exchange membrane fuel cells.
  - pvlib-python - A community supported tool that provides a set of functions and classes for simulating the performance of photovoltaic energy systems.
  - Horizon - EDA is an Electronic Design Automation package supporting an integrated end-to-end workflow for printed circuit board design including parts management and schematic entry.
  - tigl - The TiGL Geometry Library can be used for the computation and processing of aircraft geometries stored inside CPACS files.
  - foxBMS - A free, open and flexible development environment to design battery management systems.
  - cadCAD - A Python package that assists in the processes of designing, testing and validating complex systems through simulation, with support for Monte Carlo methods, A/B testing and parameter sweeping.
  - OpenMDAO - An open-source framework for efficient multidisciplinary optimization.
  - OpenTirePython - An open-source mathematical tire modelling library.
  - Inkscape Ray Optics - An extension for Inkscape that makes it easier to draw optical diagrams.
  - OpenAeroStruct - A lightweight tool that performs aerostructural optimization using OpenMDAO.
  - WireViz - A tool for easily documenting cables, wiring harnesses and connector pinouts.
  - urdf-viz - Visualize URDF/XACRO file, URDF Viewer works on Windows/macOS/Linux.
  - kicad-3rd-party-tools - Tools made by others to augment the KiCad PCB EDA suite.
  - ODrive - The aim is to make it possible to use inexpensive brushless motors in high performance robotics projects.
Prediction
- Vector Map
  - Awesome-Interaction-aware-Trajectory-Prediction - A selection of state-of-the-art research materials on trajectory prediction.
  - sgan - Socially Acceptable Trajectories with Generative Adversarial Networks.

Programming Languages

C++ 213 Python 199 JavaScript 32 TypeScript 18 C 18 Shell 10 Go 9 C# 9 Ruby 7 Jupyter Notebook 6

Ecosyste.ms: Awesome

awesome-robotic-tooling

Simultaneous Localization and Mapping

Vector Map

Lidar

Visual

Communication and Coordination

Documentation and Presentation

Requirements and Safety

Architecture and Design

Frameworks and Stacks

Development Environment

Code and Run

Template

Build and Deploy

Unit and Integration Test

Debugging and Tracing

Lint and Format

Version Control

Simulation

Version Control

Sensor Processing

Calibration and Transformation

Machine Learning

Parallel Processing

Image Processing

Lidar and Point Cloud Processing

Perception Pipeline

Radar Processing

Localization and State Estimation

Lidar and Point Cloud Processing

Behavior and Decision

Vector Map

Planning and Control

Vector Map

User Interaction

Graphical User Interface

Command Line Interface

Acoustic User Interface

Data Visualization and Mission Control

Command Line Interface

RViz

Annotation

Point Cloud

Operation System

Database and Record

Embedded Operation System

Real-Time Kernel

Monitoring

Network and Middleware

Real-Time Kernel

Ethernet and Wireless Networking

Security

Sensor and Acuator Interfaces

Datasets

Sensor and Acuator Interfaces

Footnotes

Sensor and Acuator Interfaces

Electronics and Mechanics

Version Control

Prediction

Vector Map