Awesome Robotics Libraries

Autonomous ground robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

linalg.h is a single header, public domain, short vector math library for C++

Real-time large scale dense visual SLAM system

A C++ platform to perform parallel computations of optimisation tasks (global and local) via the asynchronous generalized island model.

Open Source Visual Servoing Platform

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

Orocos Kinematics and Dynamics C++ library

OptimLib: a lightweight C++ library of numerical optimization methods for nonlinear functions

Fast, hierarchical, sparse Voxel Grid

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.

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

SAPIEN Embodied AI Platform

A lightweight high performance tensor algebra framework for modern C++

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

No description.

Software for the AutoRally platform

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.

Fast Deep Learning Library (DLL) for C++ (ANNs, CNNs, RBMs, DBNs...)

[IROS 2021] BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models

Kinematics and Dynamics for Robotics

YARP - Yet Another Robot Platform

The Advanced Proximal Optimization Toolbox

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

Trajectory Optimization

A lightweight C++ machine learning library for embedded electronics and robotics.

Kris' Locomotion and Manipulation Planning Toolkit

A header-only C++ library for deep neural networks

Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2

ROS 2 localization for outdoor robots: IMU, wheel encoders and GPS fused in a 23-state UKF at 100 Hz. When the estimate goes wrong it reports which sensor and why, instead of drifting silently. Apache 2.0.

Fast radius neighbor search with an Octree (ICRA 2015)

libcmaes is a multithreaded C++11 library with Python bindings for high performance blackbox stochastic optimization using the CMA-ES algorithm for Covariance Matrix Adaptation Evolution Strategy

Behavior Trees Library for ROS (Robot Operating System). In C++ and python

Gaussian Process Motion Planner 2

A parallel, multi-engine simulator for heterogeneous swarm robotics

ros2_medkit - diagnostics gateway for ROS 2 robots. Faults, live data, operations, scripts, locking, triggers, and OTA updates via REST API. No SSH, no custom tooling.

A lightweight framework for Gaussian processes and Bayesian optimization of black-box functions (C++11)

Artificial Intelligence for Kinematics, Dynamics, and Optimization

Multibody Dynamics Library designed for Free Floating Robots

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

The GraspIt! simulator

C++ Template Library to Predict, Control, Learn Behaviors, and Represent Learnable Knowledge using On/Off Policy Reinforcement Learning

A lightweight, generic C++11 framework for evolutionary computation

Extensible Optimization Framework

CoppeliaSim core library

Time-optimal Trajectory Generation and Control

URDF parser

A solver for mixed-integer nonlinear optimization problems

The iCub Main Software Repository

Simplifying optimal control with metaprogramming