Top 23 C++ Robotic Projects
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Bullet
Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
Project mention: Help with installing a program from bitbucket! | reddit.com/r/linux4noobs | 2022-05-09Could this be the library it's talking about? https://github.com/bulletphysics/bullet3
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Project mention: How to transform a perspective view image to orthographic view image (with intel realsense rgbd camera) | reddit.com/r/computervision | 2022-06-29
If you're using python then you can use something like https://github.com/daavoo/pyntcloud to manipulate / render from different angles. If you're using c++ try https://pointclouds.org/
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SonarQube
Static code analysis for 29 languages.. Your projects are multi-language. So is SonarQube analysis. Find Bugs, Vulnerabilities, Security Hotspots, and Code Smells so you can release quality code every time. Get started analyzing your projects today for free.
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Nope. There's a pull request for Ardupilot, though https://github.com/ArduPilot/ardupilot/pull/14583
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cartographer
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. (by cartographer-project)
Project mention: SLAM algorithm for a mobile robot with (2D)LiDAR, IMU and camera | reddit.com/r/robotics | 2022-01-01 -
jetson-inference
Hello AI World guide to deploying deep-learning inference networks and deep vision primitives with TensorRT and NVIDIA Jetson.
Project mention: help with project involving object detection and tracking with camera | reddit.com/r/JetsonNano | 2022-06-18 -
Project mention: Can you recommend embedded software projects that doesn't need a lot of mechanical work? | reddit.com/r/embedded | 2022-03-16
i had another thought to share and that is to check out webots: https://cyberbotics.com/
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Simbody
High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.
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Scout APM
Less time debugging, more time building. Scout APM allows you to find and fix performance issues with no hassle. Now with error monitoring and external services monitoring, Scout is a developer's best friend when it comes to application development.
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RTABmap project homepage
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navigation
ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
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Project mention: [D] Have we stopped researching agents? | reddit.com/r/MachineLearning | 2022-04-28
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Project mention: How do learn the industrial or main stream slam algorithms/ localization. | reddit.com/r/robotics | 2022-06-15
Recommend finding open source libraries, like this one https://github.com/MRPT/mrpt Also you could look into ROS1 and ROS2 nav stack to understand the implementation via gazebo and rviz
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Project mention: BehaviorTree.CPP: C++ behavior tree library, batteries included | news.ycombinator.com | 2021-10-05
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Aside from that there have been some publications of some high quality open source SLAM systems like OpenVINS and ORB-SLAM3.
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Project mention: Fast DDS is a C++ implementation of the DDS pub/sub standard | news.ycombinator.com | 2022-05-20
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The tutorial I was using (which comes straight from nav2) says to run ros2 launch nav2_bringup navigation_launch.py . However, when I went to tune Turtlebot3 via the .param file, it did no change whatsoever. This is because, by default, the file uses up this param file that is significantly different than burger.yaml; After changing it the costmap looks completely different. After reading the source code for the .launch file of the Turtlebot3 nav package for galactic and nav2, I've found out that running ros2 launch nav2_bringup navigation_launch.py params_file:=[PATH_TO_BURGER_YAML] works and completely fixes this issue.
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Yep, its easy to implement on hardware as well, here is the wiki: https://github.com/chvmp/champ/wiki/Hardware-Integration
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Project mention: Trying to find info on how a bell with a multi-jointed clapper/pendulum might work. | reddit.com/r/AskPhysics | 2022-05-07
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control-toolbox
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Project mention: libmpc++ is a C++ header-only library to solve linear and non-linear MPC | reddit.com/r/ControlTheory | 2021-09-21 -
Project mention: Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc. | reddit.com/r/robotics | 2022-06-14
Continue reading | Checkout the paper and github
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voxblox
A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
Project mention: Questions for SLAM/SfM for Dense 3D Reconstruction (DSO vs ORB, Monofusion etc.) | reddit.com/r/computervision | 2022-03-11For instance you could go with : https://github.com/ov2slam/ov2slam , add some processing on the keyframes for depth maps computation and then fuse the depth maps in a TSDF using https://github.com/personalrobotics/OpenChisel or https://github.com/ethz-asl/voxblox
C++ Robotics related posts
- Working with namespace correctly - Multiple Turtlebot3 robots inside the same simulation in Gazebo
- Planning arm moves in a tiny space
- I have a robot model in URDF (running in pybullet). Are there easy tools to get the forward/inverse kinematics, and especially use that to plug it into a LQR controller?
- How to transform a perspective view image to orthographic view image (with intel realsense rgbd camera)
- How do learn the industrial or main stream slam algorithms/ localization.
- Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc.
- Fast symbolic computation, code generation, and nonlinear optimization for robotics
Index
What are some of the best open-source Robotic projects in C++? This list will help you:
| Project | Stars | |
|---|---|---|
| 1 | Bullet | 9,435 |
| 2 | PCL | 7,514 |
| 3 | ardupilot | 7,429 |
| 4 | cartographer | 6,045 |
| 5 | jetson-inference | 5,705 |
| 6 | webots | 1,963 |
| 7 | Simbody | 1,892 |
| 8 | rtabmap | 1,841 |
| 9 | navigation | 1,641 |
| 10 | habitat-sim | 1,464 |
| 11 | MRPT | 1,444 |
| 12 | BehaviorTree.CPP | 1,360 |
| 13 | open_vins | 1,222 |
| 14 | Fast-DDS | 1,167 |
| 15 | moveit | 1,136 |
| 16 | navigation2 | 1,051 |
| 17 | champ | 978 |
| 18 | FCL | 951 |
| 19 | gazebo | 928 |
| 20 | redtail | 925 |
| 21 | control-toolbox | 901 |
| 22 | symforce | 884 |
| 23 | voxblox | 872 |
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