https://github.com/leggedrobotics/grand_tour_box

Drivers, software and utilities for the GrandTour Boxi sensor payload.
https://github.com/leggedrobotics/grand_tour_box

Last synced: 6 months ago
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Drivers, software and utilities for the GrandTour Boxi sensor payload.

• Host: GitHub
• URL: https://github.com/leggedrobotics/grand_tour_box
• Owner: leggedrobotics
• License: mit
• Created: 2023-06-08T09:35:31.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2025-11-17T11:51:15.000Z (8 months ago)
• Last Synced: 2025-11-17T13:24:59.799Z (8 months ago)
• Language: C++
• Homepage: https://grand-tour.leggedrobotics.com
• Size: 29.3 MB
• Stars: 9
• Watchers: 5
• Forks: 1
• Open Issues: 31
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

          



  


  GrandTour - Boxi Software

  






  A project brought to you by RSL - ETH Zurich.





  Getting Started •

  Citation •

  Contributing







Getting Started



This repository contains all drivers, real-time software, and post-processing tools required to operate Boxi, our multi-modal autonomy payload.

* 📖 More information, including setup instructions, will be available in the [Wiki](https://github.com/leggedrobotics/grand_tour_box/wiki) (🚧 under construction).

* 📦 The **GrandTour Dataset**, collected using Boxi, is available at: [https://grand-tour.leggedrobotics.com/](https://grand-tour.leggedrobotics.com/)

* 🔩 The **Hardware Specifications** are available at: [https://grand-tour.leggedrobotics.com/setup](https://grand-tour.leggedrobotics.com/setup)

> ⚙️ **Note:** We are currently in the process of refactoring the repository to improve usability and transitioning the entire software stack to **ROS 2** in the coming months.





Citation



If you use this software or dataset, please cite our work:

```

@INPROCEEDINGS{Tuna-Frey-Fu-RSS-25,

    AUTHOR    = {Jonas Frey AND Turcan Tuna AND Lanke Frank Tarimo Fu AND Cedric Weibel AND Katharine Patterson AND Benjamin Krummenacher AND Matthias Müller AND Julian Nubert AND Maurice Fallon AND Cesar Cadena AND Marco Hutter},

    TITLE     = {{Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics}},

    BOOKTITLE = {Proceedings of Robotics: Science and Systems},

    YEAR      = {2025},

    ADDRESS   = {Los Angeles, United States},

    MONTH     = {June}

}

```

*shared first author: Tuna, Frey, Fu. 





Contributing



We welcome contributions! If you're interested in contributing, please contact:

* Turcan Tuna – [tutuna@ethz.ch](mailto:tutuna@ethz.ch)

* Jonas Frey – [jonfrey@ethz.ch](mailto:jonfrey@ethz.ch)