Awesome Robotics Libraries

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.

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

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

Newton Dynamics is an integrated solution for real time simulation of physics environments.

Lightweight and Simple 3D Open Source Physics Engine in C++

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

Real-time large scale dense visual SLAM system

robotic motion planning library

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

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.

Parallel solvers for sparse linear systems featuring multigrid methods.

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.

Software for the AutoRally platform

High-performance interior-point-method QP and QCQP solvers

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.

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

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

Splitting Conic Solver

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

Kris' Locomotion and Manipulation Planning Toolkit

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

Multibody dynamics tool kit.

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

The Modular OpenRobots Simulation Engine

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

This is the GitHub mirror for the LibrePilot source code. The main development is taking place at https://bitbucket.org/librepilot

Gaussian Process Motion Planner 2

A parallel, multi-engine simulator for heterogeneous swarm robotics

Fiducial markers for SLAM.

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)

RelaxedIK Solver