MoveIt
A powerful open-source platform for motion planning, manipulation, and robot arm control in ROS. Industry standard for arm motion planning, benchmarking, and integration.
Tags:
Company:
PickNik, Open Robotics
Language:
C++, Python
License:
Open-Source
OMPL (Open Motion Planning Library)
Sampling-based motion planning algorithms for robotics, used as the core planning library in many robotics frameworks.
Tags:
Company:
Kavraki Lab, Rice University
Language:
C++ (Python bindings)
License:
Open-Source
Ruckig
Online trajectory generation library for instantaneous, jerk-limited, time-optimal motion control. Enables real-time response for robots and CNCs.
Tags:
Company:
Pantor Robotics
Language:
C++ (Python API)
License:
Open-Source
OpenCV
The leading open-source computer vision and image processing toolkit, with 2500+ algorithms for image analysis, recognition, and more.
Tags:
Company:
OpenCV Foundation
Language:
C++, Python, Java, MATLAB
License:
Open-Source
PCL (Point Cloud Library)
Comprehensive open-source library for 2D/3D point cloud processing, including filtering, feature extraction, segmentation, and registration.
Tags:
Company:
Open Perception
Language:
C++ (Python bindings)
License:
Open-Source
YOLOv8 (You Only Look Once)
Fast, real-time object detection models for robotics vision. Ultralytics YOLOv8 is the latest version, offering high speed and accuracy in Python.
Tags:
Company:
Ultralytics
Language:
Python (PyTorch)
License:
Open-Source
FCL (Flexible Collision Library)
Highly efficient C++ library for collision detection and proximity queries between 3D models. Used by MoveIt and many other planning stacks.
Tags:
Company:
Willow Garage, Open Robotics
Language:
C++
License:
Open-Source
Bullet Physics
Open-source physics simulation engine supporting collision detection and rigid/soft body dynamics. Widely used in robotics simulators and real-time planning.
Tags:
Company:
Bullet Community
Language:
C++ (Python bindings)
License:
Open-Source
Mozilla DeepSpeech
Offline-capable neural speech-to-text engine. Converts speech to text using deep neural networks, runs on-device, supports multiple languages.
Tags:
Company:
Mozilla
Language:
Python, C++ (TensorFlow)
License:
Open-Source
Whisper
High-accuracy, open-source end-to-end neural speech recognition model. Supports many languages, usable offline on GPU.
Tags:
Company:
OpenAI
Language:
Python (PyTorch)
License:
Open-Source
Orocos KDL (Kinematics and Dynamics Library)
Real-time C++ library for kinematics and dynamics computations of robotic chains. Used in ROS for forward/inverse kinematics, Jacobians, and dynamics.
Tags:
Company:
Orocos Project
Language:
C++
License:
Open-Source
Pinocchio
Fast and efficient library for computing kinematics, dynamics, and derivatives of articulated rigid body systems, used for control and optimization.
Tags:
Company:
LAAS-CNRS/Inria
Language:
C++ (Python bindings)
License:
Open-Source
OpenAI Gym
Standard toolkit for developing and comparing reinforcement learning algorithms. Includes many simulated environments, including robotics.
Tags:
Company:
OpenAI
Language:
Python
License:
Open-Source
Stable Baselines3
Collection of reliable reinforcement learning algorithms in PyTorch, easy integration for robotics training and evaluation.
Tags:
Company:
DLR Robotics and Mechatronics Center
Language:
Python
License:
Open-Source
Cartographer
Real-time SLAM in 2D and 3D, integrates with ROS. Builds occupancy grid or submaps using lidar and IMU data.
Tags:
Company:
Language:
C++, Lua
License:
Open-Source
RTAB-Map
Graph-based SLAM for RGB-D, stereo, and lidar sensors. Performs real-time loop closure and 3D mapping, heavily used with ROS.
Tags:
Company:
IntRoLab, Université de Sherbrooke
Language:
C++
License:
Open-Source
robot_localization
ROS package for state estimation through sensor fusion. Fuses odometry, IMU, GPS using EKF/UKF for robust robot localization.
Tags:
Company:
Tom Moore / ROS Community
Language:
C++
License:
Open-Source
FreeCAD
Open-source parametric 3D CAD modeler for mechanical and robotics parts. Supports scripting and exports to common formats for simulation and manufacturing.
Tags:
Company:
FreeCAD Community
Language:
C++, Python
License:
Open-Source
ROS (Robot Operating System)
Leading open-source middleware for robotics. Provides messaging, drivers, libraries for navigation, manipulation, vision, and more.
Tags:
Company:
Open Robotics
Language:
C++, Python
License:
Open-Source
ROS 2
Modern, real-time capable version of ROS, using DDS for improved reliability and scalability, ideal for professional robotics systems.
Tags:
Company:
Open Robotics
Language:
C++, Python
License:
Open-Source
Gazebo
Dynamic, open-source 3D robotics simulator with physics, sensors, and realistic environments. Integrates with ROS and supports plugins for custom robots.
Tags:
Company:
Open Robotics
Language:
C++ (plugins in Python/C++)
License:
Open-Source
Webots
Feature-rich, open-source simulator for mobile and humanoid robots. Provides GUI, physics, and a wide range of robot models for simulation and teaching.
Tags:
Company:
Cyberbotics
Language:
C++ (APIs in C/C++/Python/Java)
License:
Open-Source
AIKIDO
C++ library with Python bindings for solving robotic motion planning and decision-making problems. Supports trajectory generation and manipulation tasks.
Tags:
Company:
University of Washington
Language:
C++, Python
License:
Open-Source
Control Toolbox (CT)
Optimal and model predictive control toolbox for robotics. Includes solvers and tools for advanced optimal control, MPC, and trajectory generation.
Tags:
Company:
ETH Zurich
Language:
C++
License:
Open-Source
ROS Navigation Stack
Comprehensive navigation suite for ROS-based robots. Includes global and local planners, costmaps, path following, and dynamic obstacle avoidance.
Tags:
Company:
ROS Community
Language:
C++, Python
License:
Open-Source
TOPP-RA
Time-Optimal Path Parameterization for Robotics Applications. Generates time-optimal velocity profiles along a geometric path given robot constraints.
Tags:
Company:
Hung Pham et al.
Language:
Python, C++
License:
Open-Source
ViSP (Visual Servoing Platform)
Modular library for real-time visual tracking, pose estimation, and visual servo control (image-based/position-based).
Tags:
Company:
INRIA
Language:
C++ (Python wrappers)
License:
Open-Source
Dlib
Robust C++ machine learning and vision library with face detection, pose estimation, and object recognition. Used in robotics for perception tasks.
Tags:
Company:
Davis King
Language:
C++ (Python API)
License:
Open-Source
AprilTag
Fast and accurate 2D fiducial marker system for detection and 3D pose estimation. Used in robot localization and calibration.
Tags:
Company:
University of Michigan
Language:
C (Python wrappers)
License:
Open-Source
Nav2 (ROS 2 Navigation Stack)
Navigation and path planning suite for ROS 2, featuring advanced planners, controllers, and dynamic obstacle avoidance for differential/omni robots.
Tags:
Company:
Open Robotics
Language:
C++, Python
License:
Open-Source
Dynamic Window Approach (DWA) Local Planner
Real-time collision avoidance algorithm for mobile robots. Evaluates feasible velocities and generates safe trajectories in dynamic environments.
Tags:
Company:
ROS Community
Language:
C++
License:
Open-Source
Kaldi
World-class open-source toolkit for speech recognition with modular C++ libraries and advanced acoustic/language models.
Tags:
Company:
Kaldi ASR Community
Language:
C++ (scripts in Bash/Python)
License:
Open-Source
Vosk
Offline, lightweight speech recognition toolkit based on Kaldi. Supports 20+ languages and small models for embedded robotics.
Tags:
Company:
Alpha Cephei
Language:
C++, Python
License:
Open-Source
RBDL (Rigid Body Dynamics Library)
High-performance C++ library for articulated rigid body dynamics, with efficient forward and inverse dynamics computations.
Tags:
Company:
Martin Felis et al.
Language:
C++
License:
Open-Source
Isaac Gym
High-performance GPU-accelerated simulation for robot learning. Enables massive parallel simulation and reinforcement learning for legged robots and manipulators.
Tags:
Company:
NVIDIA
Language:
Python (C++ backend)
License:
Open-Source
robosuite
Modular simulation framework and benchmark for robot learning, with a suite of manipulation tasks built on MuJoCo.
Tags:
Company:
Stanford/ARISE Initiative
Language:
Python
License:
Open-Source
GMapping
Efficient Rao-Blackwellized particle filter SLAM algorithm for learning grid maps from laser range data. Common in ROS robots for mapping and navigation.
Tags:
Company:
OpenSLAM.org
Language:
C++
License:
Open-Source
ALOAM
Advanced LiDAR Odometry and Mapping system for high-precision SLAM, used on drones and mobile robots with 3D LiDAR.
Tags:
Company:
HKUST Aerial Robotics
Language:
C++
License:
Open-Source
Fuse
ROS 2 framework for plugin-based sensor fusion, supporting various sensor models and state representations for robot localization.
Tags:
Company:
Locus Robotics
Language:
C++
License:
Open-Source
OpenSCAD
Script-based, open-source CAD tool for creating parametric robot parts and structures via code, popular for rapid hardware prototyping.
Tags:
Company:
OpenSCAD Community
Language:
C++
License:
Open-Source
YARP (Yet Another Robot Platform)
Flexible and modular robotics middleware, used especially for iCub humanoid and soft-real-time robotics communication.
Tags:
Company:
Italian Institute of Technology
Language:
C++ (bindings for Java, .NET, Lua)
License:
Open-Source
CoppeliaSim (V-REP)
Virtual Robot Experimentation Platform for simulating robots, environments, and sensors with physics and scripting support.
Tags:
Company:
Coppelia Robotics
Language:
C++ (Lua scripting, APIs in Python/Java/MATLAB)
License:
Freemium (Open source for Edu/Research)
HPP (Humanoid Path Planner)
Framework for path planning for kinematic chains in environments with obstacles. Focus on humanoid robots and complex kinematic structures.
Tags:
Company:
LAAS-CNRS
Language:
C++
License:
Open-Source
Open3D
Modern library for 3D data processing, including point cloud filtering, mesh processing, 3D reconstruction, and visualization.
Tags:
Company:
Intel
Language:
C++, Python
License:
Open-Source
Intel RealSense SDK
Libraries and tools for Intel RealSense depth cameras. Includes capture APIs, 3D vision algorithms, and ROS integration for robotics applications.
Tags:
Company:
Intel
Language:
C++, Python, C#
License:
Open-Source
teb_local_planner
Timed-Elastic-Band local planner for ROS. Optimizes robot trajectories locally to avoid obstacles and obey kinodynamic constraints.
Tags:
Company:
TU Dortmund
Language:
C++
License:
Open-Source
MaryTTS
Multilingual, open-source text-to-speech synthesis platform supporting multiple languages and custom voices.
Tags:
Company:
DFKI/TUD Saarland
Language:
Java
License:
Open-Source
Festival TTS
Multi-lingual, general-purpose text-to-speech synthesis system. Includes several built-in voices and is used in many robots.
Tags:
Company:
University of Edinburgh
Language:
C++ (Scheme scripting)
License:
Open-Source
IKFast
Inverse kinematics code generator for robotic arms. Provides fast, analytic IK solvers for robots with up to 8 DOF.
Tags:
Company:
OpenRAVE
Language:
C++
License:
Open-Source
Habitat
High-performance 3D simulation platform for embodied AI research in navigation and manipulation, with photorealistic indoor environments.
Tags:
Company:
Facebook AI Research
Language:
C++, Python
License:
Open-Source
PyBullet
Python-friendly interface to Bullet Physics. Used for robot simulation and reinforcement learning in 3D environments.
Tags:
Company:
Bullet Community
Language:
Python (C++ backend)
License:
Open-Source
OctoMap
Probabilistic 3D mapping framework based on octrees. Enables robots to build efficient 3D occupancy maps from sensors like LIDAR.
Tags:
Company:
University of Freiburg
Language:
C++
License:
Open-Source
libPointMatcher
Iterative Closest Point (ICP) library for 2D/3D point cloud registration. Used for mapping and localization with LIDAR.
Tags:
Company:
ETH Zurich
Language:
C++
License:
Open-Source
robot_localization
Robust ROS state estimation using EKF and UKF. Fuses odometry, IMU, and GPS data for accurate robot pose estimation.
Tags:
Company:
Tom Moore, ROS Community
Language:
C++
License:
Open-Source
OpenIMU
Firmware and algorithms for an inertial sensor platform, enabling custom sensor fusion and navigation on embedded IMUs.
Tags:
Company:
Aceinna
Language:
C
License:
Open-Source
KiCAD
Open-source suite for electronic design automation (EDA), including schematic capture, PCB layout, and 3D visualization for robot electronics.
Tags:
Company:
KiCAD Developers
Language:
C++
License:
Open-Source
Orocos RTT (Real-Time Toolkit)
Real-time robotics software framework for component-based development and deterministic control loops. Can integrate with ROS.
Tags:
Company:
Orocos Project
Language:
C++
License:
Open-Source
MICRO-ROS
Extends ROS 2 to microcontrollers, allowing small embedded devices to participate in ROS-based robotics networks.
Tags:
Company:
eProsima, ROS 2 Community
Language:
C (embedded)
License:
Open-Source
CARLA
High-fidelity, open-source simulator for autonomous driving research. Supports realistic urban environments, sensors, and APIs for AV testing.
Tags:
Company:
CARLA Team
Language:
C++, Python
License:
Open-Source
Unity Robotics Hub
Integrates Unity game engine with ROS for high-quality robotics simulation, perception, and training with photorealistic scenes.
Tags:
Company:
Unity
Language:
C#, Python
License:
Open-Source
ArduPilot
Advanced, open-source autopilot software for drones, ground vehicles, boats, and more. Supports a vast range of sensors, platforms, and mission types.
Tags:
Company:
ArduPilot Dev Team
Language:
C++
License:
Open-Source
PX4 Autopilot
Industry-leading open-source flight control software for drones and other unmanned vehicles, used in commercial and academic UAVs globally.
Tags:
Company:
Dronecode Foundation
Language:
C++
License:
Open-Source
Dronecode SDK (MAVSDK)
Multi-language libraries for drone control over MAVLink, enabling developers to build apps for mission control, offboard navigation, and more.
Tags:
Company:
Dronecode Foundation
Language:
C++, Python, Java
License:
Open-Source
Mission Planner
Windows-based ground control station for ArduPilot, providing mission planning, parameter tuning, log analysis, and real-time UAV telemetry.
Tags:
Company:
ArduPilot
Language:
C#
License:
Open-Source
QGroundControl
Cross-platform ground control station supporting both PX4 and ArduPilot. Provides mission planning, configuration, real-time flight data, and more.
Tags:
Company:
QGroundControl
Language:
C++ (Qt)
License:
Open-Source
Autoware.Auto
Autonomous driving stack built on ROS 2, providing perception, planning, and control modules for urban self-driving vehicles.
Tags:
Company:
Autoware Foundation
Language:
C++, Python
License:
Open-Source
Apollo (Baidu Apollo)
Full-stack open-source platform for autonomous driving: HD mapping, sensor fusion, planning, and control. Used by industry and academia globally.
Tags:
Company:
Baidu Apollo
Language:
C++, Python
License:
Open-Source
LG SVL Simulator
High-fidelity, Unity-based simulator for autonomous vehicle research, compatible with Apollo and Autoware. Used for virtual testing and training.
Tags:
Company:
LG Silicon Valley Lab
Language:
C#, Python (Unity)
License:
Open-Source
OpenPilot
Open-source driver assistance system for cars, adding lane keeping, adaptive cruise, and more to supported vehicles.
Tags:
Company:
comma.ai
Language:
Python, C++, C
License:
Open-Source
DroneKit
Python and Android libraries for controlling ArduPilot-based drones, enabling high-level onboard and offboard autonomous scripts.
Tags:
Company:
3D Robotics
Language:
Python
License:
Open-Source
RTAB-Map
Real-time 3D SLAM for RGB-D, stereo, and lidar sensors. Performs loop closure, 3D reconstruction, and integrates with ROS.
Tags:
Company:
IntRoLab, Université de Sherbrooke
Language:
C++
License:
Open-Source
Cartographer
Real-time SLAM in 2D and 3D, providing mapping for indoor and outdoor robots. Supports lidar, IMU, and multi-sensor fusion.
Tags:
Company:
Language:
C++, Lua
License:
Open-Source
ALOAM
Efficient lidar odometry and mapping for 3D sensors, providing accurate and robust pose estimation for ground and aerial robots.
Tags:
Company:
HKUST Aerial Robotics
Language:
C++
License:
Open-Source
robot_localization
ROS package for robust state estimation by fusing data from IMU, odometry, GPS, and more using EKF and UKF.
Tags:
Company:
Tom Moore / ROS Community
Language:
C++
License:
Open-Source
PX4-ECL
Estimation and Control Library for drones, used in PX4 for sensor fusion (IMU, GPS, barometer, magnetometer) using EKF2 and attitude estimation.
Tags:
Company:
PX4 / Dronecode Foundation
Language:
C++
License:
Open-Source
FreeCAD
Parametric open-source 3D CAD modeler used for designing robotics parts and assemblies. Supports scripting and file export for simulation and manufacturing.
Tags:
Company:
FreeCAD Community
Language:
C++, Python
License:
Open-Source
OpenSCAD
Script-based, parametric CAD tool for generating 3D models via code. Popular for rapid prototyping of robot hardware components.
Tags:
Company:
OpenSCAD
Language:
C++
License:
Open-Source
Gazebo
Open-source 3D robotics simulator with physics, sensor simulation, and plugin architecture. Integrates with ROS and supports custom robot models.
Tags:
Company:
Open Robotics
Language:
C++, Python (plugins)
License:
Open-Source
CoppeliaSim (V-REP)
Graphical simulation environment for fast prototyping and testing of robots. Features scripting, remote APIs, and physics engines.
Tags:
Company:
Coppelia Robotics
Language:
C++ (Lua, Python, remote APIs)
License:
Freemium (open-source for research/edu)
Webots
Complete development environment for modeling, programming, and simulating mobile and humanoid robots. Features built-in models and sensors.
Tags:
Company:
Cyberbotics
Language:
C++, Python, Java, MATLAB
License:
Open-Source
RTAB-Map
Real-time 3D SLAM for RGB-D, stereo, and lidar sensors. Performs loop closure, 3D reconstruction, and integrates with ROS.
Tags:
Company:
IntRoLab, Université de Sherbrooke
Language:
C++
License:
Open-Source
Cartographer
Real-time SLAM in 2D and 3D, providing mapping for indoor and outdoor robots. Supports lidar, IMU, and multi-sensor fusion.
Tags:
Company:
Language:
C++, Lua
License:
Open-Source
ALOAM
Efficient lidar odometry and mapping for 3D sensors, providing accurate and robust pose estimation for ground and aerial robots.
Tags:
Company:
HKUST Aerial Robotics
Language:
C++
License:
Open-Source
robot_localization
ROS package for robust state estimation by fusing data from IMU, odometry, GPS, and more using EKF and UKF.
Tags:
Company:
Tom Moore / ROS Community
Language:
C++
License:
Open-Source
PX4-ECL
Estimation and Control Library for drones, used in PX4 for sensor fusion (IMU, GPS, barometer, magnetometer) using EKF2 and attitude estimation.
Tags:
Company:
PX4 / Dronecode Foundation
Language:
C++
License:
Open-Source
FreeCAD
Parametric open-source 3D CAD modeler used for designing robotics parts and assemblies. Supports scripting and file export for simulation and manufacturing.
Tags:
Company:
FreeCAD Community
Language:
C++, Python
License:
Open-Source
OpenSCAD
Script-based, parametric CAD tool for generating 3D models via code. Popular for rapid prototyping of robot hardware components.
Tags:
Company:
OpenSCAD
Language:
C++
License:
Open-Source
Gazebo
Open-source 3D robotics simulator with physics, sensor simulation, and plugin architecture. Integrates with ROS and supports custom robot models.
Tags:
Company:
Open Robotics
Language:
C++, Python (plugins)
License:
Open-Source
CoppeliaSim (V-REP)
Graphical simulation environment for fast prototyping and testing of robots. Features scripting, remote APIs, and physics engines.
Tags:
Company:
Coppelia Robotics
Language:
C++ (Lua, Python, remote APIs)
License:
Freemium (open-source for research/edu)