C++ Robotics

Open-source C++ projects categorized as Robotics Edit details

Top 23 C++ Robotic Projects

  • 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 | 2022-05-09

    Could this be the library it's talking about? https://github.com/bulletphysics/bullet3

  • PCL

    Point Cloud Library (PCL)

    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/

  • 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.

  • ardupilot

    ArduPlane, ArduCopter, ArduRover, ArduSub source

    Project mention: Use sbus/fbus frsky sensors with INAV? | reddit.com/r/fpv | 2022-07-01

    Nope. There's a pull request for Ardupilot, though https://github.com/ArduPilot/ardupilot/pull/14583

  • 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
  • webots

    Webots Robot Simulator

    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/

  • Simbody

    High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

  • 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.

  • rtabmap

    RTAB-Map library and standalone application

    Project mention: ROS: Simultaneous Mapping and Localization with RTABmap | dev.to | 2022-03-27

    RTABmap project homepage

  • habitat-sim

    A flexible, high-performance 3D simulator for Embodied AI research.

    Project mention: [D] Have we stopped researching agents? | reddit.com/r/MachineLearning | 2022-04-28
  • MRPT

    :zap: The Mobile Robot Programming Toolkit (MRPT)

    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

  • BehaviorTree.CPP

    Behavior Trees Library in C++. Batteries included.

    Project mention: BehaviorTree.CPP: C++ behavior tree library, batteries included | news.ycombinator.com | 2021-10-05
  • open_vins

    An open source platform for visual-inertial navigation research.

    Project mention: Advances in SLAM since 2016 | reddit.com/r/robotics | 2022-01-21

    Aside from that there have been some publications of some high quality open source SLAM systems like OpenVINS and ORB-SLAM3.

  • Fast-DDS

    The most complete DDS - Proven: Plenty of success cases.

    Project mention: Fast DDS is a C++ implementation of the DDS pub/sub standard | news.ycombinator.com | 2022-05-20
  • moveit

    :robot: The MoveIt motion planning framework

    Project mention: Planning arm moves in a tiny space | reddit.com/r/ROS | 2022-06-30
  • champ

    𓃡 Quadruped Robot based on MIT Cheetah I

    Project mention: Legged Robots in Ignition / Gazebo | reddit.com/r/ROS | 2022-04-27

    Yep, its easy to implement on hardware as well, here is the wiki: https://github.com/chvmp/champ/wiki/Hardware-Integration

  • FCL

    Flexible Collision Library

  • gazebo

    Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

    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
  • redtail

    Perception and AI components for autonomous mobile robotics.

    Project mention: Holybro S500 V2 Kit | reddit.com/r/diydrones | 2021-08-18
  • 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
  • symforce

    Fast symbolic computation, code generation, and nonlinear optimization for robotics

    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

  • 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 | 2022-03-11

    For 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

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 2022-07-01.

C++ Robotics related posts


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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