Repository Index

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure strategies, a volumetric reconstruction module, integrated depth-prediction models, and semantic segmentation capabilities for enhanced scene understanding.

• 3d-reconstruction
• depth-prediction
• feature-matching
• global-features

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

LLM-first, 3D-native robotics and simulation workspace.

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

• ros
• navigation
• robot
• voxel

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

This repository contains multiple approaches for generating global racetrajectories.

Unmanned Surface Vehicle simulation on Gazebo with water current and winds

• usv
• boat
• gazebo
• water-surface

TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.

Local trajectory planner based on a multilayer graph framework for autonomous race vehicles.

• planner
• graph

RAFCON (RMC advanced flow control) uses hierarchical state machines, featuring concurrent state execution, to represent robot programs. It ships with a graphical user interface supporting the creation of state machines and contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated using RAFCON's API.

• robotics
• graphical-programming
• state-machine

RTK tractor autosteer system with a web interface that you can control with a smartphone and can run on a Raspberry Pi. Based on 2x u-Blox ZED-F9P.