The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
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A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
URDF Loaders for Unity and THREE.js with example ATHLETE URDF Files open sourced from NASA JPL
A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
- visual-inertial-odometry
- msckf
- localization
- ekf-mono-slam
Detect 6-DOF grasp poses in point clouds
OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)
- 3d-lidar
- loop-closure-detection
- slam
- lidar
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
- articulated-body-algorithm
- inverse-dynamics
- forward-dynamics
- multi-body-dynamics
SolidWorks to URDF Exporter
ROS-based framework and RPi image to control PX4-powered drones 🍀
- ros
- px4
- mavros
- aruco
YARP - Yet Another Robot Platform
- middleware
- yarp
- robotics-libraries
- robotics
A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
[ICRA2021] A low-cost SLAM system based on camera and Livox lidar.
Modular autonomous driving platform running on the CARLA simulator and real-world vehicles.
- autonomous-vehicles
- autonomous-driving
- carla
- perception
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
- robotics
- lidar
- slam
- calibration
This repository maintains the implementation of "Event-based Stereo Visual Odometry".
Tools & library for driving the AxiDraw pen plotter
- plotter
- axidraw
- serial
Unmanned Surface Vehicle simulation on Gazebo with water current and winds
- usv
- boat
- gazebo
- water-surface
Translated🦆 Feetech HD1910 Microduck replica: one-legged balance, ready-to-use models, Chinese console, custom HAT/IMU & 3-step build guides. No training required.
- 3d-printing
- bipedal-robots
- feetech
- hd1910
(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
- slam
- robotics
- state-estimation
- visual-slam
The ROSPlan framework provides a generic method for task planning in a ROS system.
Behavior Trees Library for ROS (Robot Operating System). In C++ and python
- behavior-trees
- behavior-tree
- ros
Bayesian Generalized Kernel Inference for Terrain Traversability Mapping
An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS (Robotic Operating System) applications written in C++
- state-machine
- ros
- ros-packages
- navigation