Awesome Robotics Libraries

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

Open-source simulator for autonomous driving research.

Point Cloud Library (PCL)

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

header only, dependency-free deep learning framework in C++14

mlpack: a fast, header-only C++ machine learning library

NVIDIA PhysX SDK

Webots Robot Simulator

A large scale non-linear optimization library

Model-based design and verification for robotics.

RTAB-Map library and standalone application

A flexible, high-performance 3D simulator for Embodied AI research.

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

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.

DyNet: The Dynamic Neural Network Toolkit

High-performance C++ library for multiphysics and multibody dynamics simulations

LSD-SLAM

nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

C++ implementation of Lie Groups using Eigen.

Direct Sparse Odometry

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

Fast Library for Approximate Nearest Neighbors

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

PositionBasedDynamics is a library for the physically-based simulation of rigid bodies, deformable solids and fluids.

The Open Motion Planning Library (OMPL)

:zap: The Mobile Robot Programming Toolkit (MRPT)

Fluid simulation engine for computer graphics applications

:robot: The MoveIt motion planning framework

Real-time dense visual SLAM system

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics

A small C++11 header-only library for Lie theory.

COIN-OR Interior Point Optimizer IPOPT

Open source C++ physics engine library in 3D

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

Open source robotics simulator. The latest version of Gazebo.

Optimal Control for Switched Systems

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

Kratos Multiphysics (A.K.A Kratos) is a framework for building parallel multi-disciplinary simulation software. Modularity, extensibility and HPC are the main objectives. Kratos has BSD license and is written in C++ with extensive Python interface.

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Real-time multi-physics simulation with an emphasis on medical simulation.

Main development repository for Rigs of Rods soft-body physics simulator

DART: Dynamic Animation and Robotics Toolkit

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.