ROS

Open-Source-Rovernasa-jpl/open-source-rover

A build-it-yourself, 6-wheel rover based on NASA's Mars rover design, using consumer off-the-shelf parts for education and robotics research.

ORB_SLAM3UZ-SLAMLab/ORB_SLAM3

An accurate open-source library for visual, visual-inertial, and multi-map SLAM supporting monocular, stereo, and RGB-D cameras.

Udacity's Self Driving Car Engineer Courseudacity/self-driving-car

An open-source project for developing autonomous vehicle software with datasets, models, and ROS components.

kalibrethz-asl/kalibr

A toolbox for calibrating multi-camera, visual-inertial, and rolling shutter sensor systems in robotics.

GitHub repositoryhku-mars/FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package using a tightly-coupled iterated Kalman filter.

GitHub repositoryTixiaoShan/LIO-SAM

A real-time, tightly-coupled lidar-inertial odometry package for robust robot localization and mapping.

VINS-FusionHKUST-Aerial-Robotics/VINS-Fusion

An optimization-based multi-sensor state estimator for accurate self-localization in drones, cars, and AR/VR applications.

pinocchiostack-of-tasks/pinocchio

A fast and flexible C++ library implementing state-of-the-art Rigid Body Dynamics algorithms and their analytical derivatives.

Fast-PlannerHKUST-Aerial-Robotics/Fast-Planner

A robust and efficient trajectory planner enabling quadrotor fast flight in complex unknown environments.

grid_mapANYbotics/grid_map

A C++ library with ROS interface for managing multi-layered 2D grid maps in mobile robotics.

openvslamxdspacelab/openvslam

A versatile visual SLAM framework for monocular, stereo, and RGB-D cameras with map storage and reuse capabilities.

LeGO-LOAMRobustFieldAutonomyLab/LeGO-LOAM

A lightweight, ground-optimized lidar odometry and mapping system for ROS-compatible unmanned ground vehicles.

LSD-SLAMtum-vision/lsd_slam

A real-time monocular SLAM system that creates large-scale semi-dense maps using a fully direct approach without feature extraction.

EGO-PlannerZJU-FAST-Lab/ego-planner

A lightweight gradient-based local planner for quadrotors that eliminates ESDF construction, achieving planning times around 1ms.

slam_toolboxSteveMacenski/slam_toolbox

A ROS-based 2D SLAM library for lifelong mapping, localization, and multi-robot SLAM with pose-graph optimization.

Unity Robotics HubUnity-Technologies/Unity-Robotics-Hub

A central repository of tools, tutorials, and resources for robotics simulation using Unity and ROS integration.

A-LOAMHKUST-Aerial-Robotics/A-LOAM

A clean, simplified implementation of the LOAM algorithm for real-time LiDAR odometry and mapping using Eigen and Ceres Solver.

darknet_rosleggedrobotics/darknet_ros

A ROS package for real-time object detection in camera images using YOLO (V3) on GPU and CPU.

darknet_rosleggedrobotics/darknet_ros

A ROS package for real-time object detection in camera images using YOLO (V3) on GPU and CPU.

hdl_graph_slamkoide3/hdl_graph_slam

A ROS package for real-time 6DOF SLAM using 3D LIDAR, featuring graph-based optimization with multiple sensor constraints.

champchvmp/champ

An open-source ROS-based quadruped controller framework for building and controlling legged robots, based on MIT Cheetah research.

SVO: Semi-direct visual odometryuzh-rpg/rpg_svo

A fast semi-direct monocular visual odometry pipeline for robotics and computer vision applications.

KimeraMIT-SPARK/Kimera

A C++ library for real-time metric-semantic SLAM, building semantically annotated 3D meshes from camera and IMU data.

MoveItros-planning/moveit

An open-source motion planning framework for robotic manipulation, enabling commercial applications, prototyping, and algorithm benchmarking.

turtlebot3ROBOTIS-GIT/turtlebot3

ROS packages for the TurtleBot3, a popular open-source robotics platform for education and research.

robot_localizationcra-ros-pkg/robot_localization

A ROS package providing nonlinear state estimation nodes for robot localization using sensor fusion.

path_plannerkarlkurzer/path_planner

A real-time Hybrid A* path planner for nonholonomic autonomous vehicles, generating smooth, efficient paths in unstructured environments.

elevation_mappingANYbotics/elevation_mapping

A ROS package for robot-centric elevation mapping that handles pose uncertainty for navigation on rough terrain.

AB3DMOTxinshuoweng/AB3DMOT

A real-time baseline 3D multi-object tracking system using LiDAR point clouds, combining 3D Kalman filter and Hungarian algorithm.

lidar_camera_calibrationankitdhall/lidar_camera_calibration

A ROS package for extrinsic calibration between LiDAR and camera sensors using 3D-3D point correspondences.

loam_velodynelaboshinl/loam_velodyne

A realtime LiDAR odometry and mapping (LOAM) method for state estimation and mapping using 3D lidar sensors like Velodyne VLP16.

imu_utilsgaowenliang/imu_utils

A ROS package for analyzing IMU performance using Allan variance on stationary data.

ORB-SLAMraulmur/ORB_SLAM

A real-time monocular SLAM system for computing camera trajectories and sparse 3D scene reconstruction.

loam_livoxhku-mars/loam_livox

A robust, real-time LiDAR odometry and mapping package optimized for Livox LiDARs with small fields of view.

rotors_simulatorethz-asl/rotors_simulator

A modular Gazebo simulator for multirotor aerial vehicles (MAVs) with ROS integration.

teb_local_plannerrst-tu-dortmund/teb_local_planner

An optimal trajectory planner for mobile robots using Timed Elastic Bands to optimize paths considering time, obstacles, and kinodynamic constraints.