oneAPI Threading Building Blocks (oneTBB)

🏎 Waypoint and planner tools for ROS 2 with minimal dependencies.

Unified software framework for creating behavior-based ROS 2 applications focusing on resilient operations.

ROS node to interact with Halo series marine radar.

Messages for DVLs, multibeams, and imaging sonars.

An xml parser for py_trees

Python implementation of behaviour trees.

An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS2 (Robotic Operating System) applications written in C++

Code snippets for ROS2

BTGenBot: a system to generate behavior trees for robots using lightweight (~7 billion parameters) large language models (LLMs)

Offical code release for DynoSAM: Dynamic Object Smoothing And Mapping [Submitted TRO Visual SLAM SI]. A visual SLAM framework and pipeline for Dynamic environements, estimating for the motion/pose…

Extended Kalman Filter-Based Calibration and Localization

[ICLR 2025 Oral] The official implementation of "Diffusion-Based Planning for Autonomous Driving with Flexible Guidance"

Navigation2's dynamic obstacle detection, tracking, and processing pipelines.

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to inte…

Fully open reproduction of DeepSeek-R1

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS,…

C++ API wrapper for displaying shapes and meshes in Rviz

Official repository for WaterScenes dataset

Benchmark dataset for maritime multi-sensor, multi-target tracking

RMW for ROS 2 using Zenoh as the middleware

ros2ai is a next-generation ROS 2 command line interface extension with LLMs

PyTorch examples for the IEEE Robotics and Automation Letters paper titled "Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary Controllers"

Marine simulator core assets for Unity

ArduPlane, ArduCopter, ArduRover, ArduSub source

Simulation of Botanbot, an Ackermann type robot for agricultural use cases. It is configured to work with 2.5D navigation system vox_nav

An ultra-fast and highly robust kinematics library for C++ or ROS2 using DH parameters.

ROMAN is a view-invariant global localization method that maps open-set objects and uses the geometry, shape, and semantics of objects to find the transformation between a current pose and previous…