C++ Ros

Open-source C++ projects categorized as Ros | Edit details

Top 23 C++ Ro Projects

  • GitHub repo carla

    Open-source simulator for autonomous driving research.

    Project mention: Simulation of a Virtual Bustling City With Pedestrian / Vehicle AI | reddit.com/r/artificial | 2021-09-11

    It could be AirSim or one of the following one : LG simulator, CARLA, Righthook, Cognata or Ansys.

  • GitHub repo ardupilot

    ArduPlane, ArduCopter, ArduRover, ArduSub source

    Project mention: DJI SBUS baud fast protocol on Ardupilot? | reddit.com/r/ardupilot | 2021-09-23

    I was digging through the Ardupilot PRs to see if there is one already for fast SBUS, and stumbled upon canvas mode.

  • Nanos

    Run Linux Software Faster and Safer than Linux with Unikernels.

  • GitHub repo PX4-Autopilot

    PX4 Autopilot Software

    Project mention: Flying drones? | reddit.com/r/SteamDeck | 2021-09-26

    There is a lot hardware and software for that [1], [2]. They are supported by Dronecode Foundation a part of Linux Foundation.

  • GitHub repo PlotJuggler

    The Time Series Visualization Tool that you deserve.

    Project mention: Remember how awesome splash screens used to be? Gimp 1.2 still stands out in my memory. Does anyone else have current or former favourites? | reddit.com/r/linux | 2021-08-05

    For work sometimes I will use a program called PlotJuggler, where there is a splash screen but it is just a couple seconds of displaying a random, plotting related meme.

  • GitHub repo webots

    Webots Robot Simulator

    Project mention: A coworker has recently ported our C++ rendering engine (for robotics) to WebAssembly. There are some interesting results | reddit.com/r/javascript | 2021-07-29

    It is a robot simulator and it is already in production: https://github.com/cyberbotics/webots

  • GitHub repo msckf_vio

    Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

    Project mention: I'm unable to compile a catkin package on Windows (build.ninja not found) | reddit.com/r/robotics | 2021-04-24

    Hi! This is my first time using the ROS toolkit, so I'm sure I'm missing something obvious. I am trying to install the msckf_vio package on Windows 10, but I've run into some issues. The package's github page says that it's a "standard catkin package", so I followed this guide to create a catkin workspace. Then, I cloned the github repo into the src folder, went back to the workspace folder and I ran catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release. The command seemed to run fine for a while, but then it gave me this error:

  • Scout APM

    Scout APM: A developer's best friend. Try free for 14-days. Scout APM uses tracing logic that ties bottlenecks to source code so you know the exact line of code causing performance issues and can get back to building a great product faster.

  • GitHub repo champ

    𓃡 Quadruped Robot based on MIT Cheetah I

    Project mention: The math behind rest_mode of champ | reddit.com/r/robotics | 2021-08-29

    I open an issue in champ's repository but it seems not really an issue, sorry about that if champ's authors see this post. You guys can read it for obvious my problem.

  • GitHub repo linorobot

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

    Project mention: High level picture of drivetrain | reddit.com/r/robotics | 2021-08-29

    I came across the linorobotics repo where a picture of the electrical setup was attached. As a mechanical engineering major will just basic experience in electrical stuff, I wanted a pointer on the overall picture of how a drivetrain is constructed (especially the electronics). Looking at this electrical diagram got me all dizzy

  • GitHub repo spot_mini_mini

    Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

    Project mention: Raspberry Pi | reddit.com/r/Charlottesville | 2021-06-09

    I am currently making a robot dog based on spot mini mini (going to use a rPI 4): https://github.com/OpenQuadruped/spot_mini_mini

  • GitHub repo towr

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

    Project mention: How to implement gait correction in my biped | reddit.com/r/robotics | 2021-04-12

    If you're open to libraries, you can take a look at TOWR https://github.com/ethz-adrl/towr which does trajectory optimization and is fast enough to use in real-time.

  • GitHub repo ifopt

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

    Project mention: building a ROS1 node that depends on a shared precompiled library | reddit.com/r/ROS | 2021-07-12

    Here is an example CMakeLists.txt and associated cmake module FindSNOPT.cmake that does what you want.

  • GitHub repo Universal_Robots_ROS_Driver

    Universal Robots ROS driver supporting CB3 and e-Series

    Project mention: Snowed in with a robot. | reddit.com/r/robots | 2021-02-26

    That’s not windows. It uses ROS

  • GitHub repo ROSIntegration

    Unreal Engine Plugin to enable ROS Support

    Project mention: Best Sim2Real Engine? | reddit.com/r/ROS | 2021-06-23

    I would say this still depends on your use-case. Unity provides potentially high visual fidelity for image based learning etc. (like Unreal, for which there is this: https://github.com/code-iai/ROSIntegration ). The physics engine may be a bit simpler than in dedicated simulators to keep real-time > 60Hz up. (Unreal also uses PhysX)

  • GitHub repo Azure_Kinect_ROS_Driver

    A ROS sensor driver for the Azure Kinect Developer Kit.

    Project mention: Need recommendations of cameras compatible with ROS for autonomous vehicles | reddit.com/r/SelfDrivingCars | 2021-08-26
  • GitHub repo AIKIDO

    Artificial Intelligence for Kinematics, Dynamics, and Optimization

  • GitHub repo turtlebot3_simulations

    Simulations for TurtleBot3

    Project mention: ROS NodeHandles : nh_ vs nh_priv_ | reddit.com/r/ROS | 2021-06-28

    1) What exactly is a Nodehandle? Why are they only in C++ and not in Python? 2) In many C++ header files of a ROS package (for example this one), I have seen people declaring 2 NodeHandles namely, nh_ and nh_priv_. Why are there 2 NodeHandles in the same code and what does the underscore _ at the end of both the identifiers mean? Would like to know about these in more detail, resources would be amazing to get. Help is appreciated, TIA

  • GitHub repo ira_laser_tools

    All laser type assemblers and manipulators.

    Project mention: What are your questions and pain points in ROS2? | reddit.com/r/ROS | 2021-07-20

    I found the ROS2 concept and design much more well established, especially for industrial. My problem on porting was more like when something available in ROS1 concept is not supported in the ROS2 concept. For example the infamous ira_laser_tools. This package basically merges all the scanning laser topics and publishes it as one so we can use it for AMCL / navigation (with the PointClouds too). The package will use ros::master api so it can manipulate the value alongside the data type format in which such concept is not supported in ROS2. In ROS1 we can take a list of topics with the data types in the format of std::string (topic name), std::string (data type). Laser topic parser in this package will process the data in a c++ way to get only the ones publishing sensor_msgs (scan data type). We can also call topics and the data type in ROS2, but in a format of std::map... I don't have sufficient c++ knowledge and reference to parse from the ROS2 api. I believe these kind of difficulties is also why nobody is working on it too.. In cases like these, how do you tackle the issue?

  • GitHub repo my_ROS_mobile_robot

    Differential drive mobile robot using ROS.

    Project mention: Adapting Existing ROS Software for Gazebo Simulation: Using gazebo_ros_control::RobotHWSim | reddit.com/r/ROS | 2021-08-03

    I've based much of my design on this example : https://github.com/eborghi10/my_ROS_mobile_robot

  • GitHub repo spinnaker_sdk_camera_driver

    Point Grey (FLIR) Spinnaker based camera driver (Blackfly S etc.)

    Project mention: Torvalds: Shared libraries are not a good thing in general | news.ycombinator.com | 2021-05-01

    To be honest, I haven't really tracked it— the product I work on dropped stereo vision in favour of RGBD, so I don't really know where it's landed. I suppose it's not a great sign that the current generation SDK still requires a login to access:


    And at least one spinnaker-based driver seems to have inherited the "download the SDK from elsewhere" approach, though who knows if that's due to genuine need or just cargo-culting forward what was implemented years ago in the flycapture driver:


    The "proper" approach here would of course be for Open Robotics (the ROS maintainers) to pull the debs and host them on the official ROS repos, as they do for a number of other dependencies [1], but that clearly hasn't happened [2].

    I think a lot of hardware vendors who cut their teeth in the totally locked down world of industrial controls/perception still think they're protecting some fantastic trade secret or whatever by behaving like this.

    [1]: https://github.com/ros-infrastructure/reprepro-updater/tree/...

    [2]: http://packages.ros.org/ros/ubuntu/pool/main/s/

  • GitHub repo dynamixel-workbench

    ROS packages for Dynamixel controllers, msgs, single_manager, toolbox, tutorials

    Project mention: Remote control of a a ROS machine from Windows? | reddit.com/r/ROS | 2021-06-05

    mkdir c:\ws\interbotics\src cd c:\ws\interbotics\src git clone -b noetic-devel https://github.com/ROBOTIS-GIT/dynamixel-workbench git clone -b melodic https://github.com/Interbotix/interbotix_ros_arms git clone --recursive https://github.com/xArm-Developer/xarm_ros git clone -b noetic https://github.com/Interbotix/interbotix_ros_manipulators git clone -b melodic-devel https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs git clone -b init_windows https://github.com/ms-iot/joystick_drivers git clone https://github.com/Interbotix/interbotix_ros_toolboxes cd c:\ws\interbotics catkin_make

  • GitHub repo rosplane

    A basic fixed-wing autopilot for ROS - based on the textbook "Small Unmanned Aircraft: Theory and Practice" by Randy Beard and Tim McLain

  • GitHub repo Nox_robot

    Nox robot project

    Project mention: Self-Made-Robot: Review Robots Projects | dev.to | 2021-03-21
NOTE: The open source projects on this list are ordered by number of github stars. The number of mentions indicates repo mentiontions in the last 12 Months or since we started tracking (Dec 2020). The latest post mention was on 2021-09-26.


What are some of the best open-source Ro projects in C++? This list will help you:

Project Stars
1 carla 6,489
2 ardupilot 6,174
3 PX4-Autopilot 4,822
4 PlotJuggler 2,480
5 webots 1,570
6 navigation 1,386
7 msckf_vio 1,066
8 champ 720
9 linorobot 682
10 spot_mini_mini 520
11 towr 511
12 ifopt 427
13 Universal_Robots_ROS_Driver 361
14 ROSIntegration 244
15 Azure_Kinect_ROS_Driver 155
16 AIKIDO 146
17 turtlebot3_simulations 136
18 ira_laser_tools 114
19 my_ROS_mobile_robot 99
20 spinnaker_sdk_camera_driver 90
21 dynamixel-workbench 73
22 rosplane 63
23 Nox_robot 58
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