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anymal_c_simple_description

Simplified robot description of the ANYmal C quadrupedal robot.

autonomous_exploration_development_environment

Leveraging system development and robot deployment for ground-based autonomous navigation and exploration.

baseline_localizer

This repo shows a simple way to utilize pcl:IterativeClosestPoint for localization

ceres-solver

A large scale non-linear optimization library - jetson nano cuda ok

ct_icp

CT-ICP: Continuous-Time LiDAR Odometry

delora

Self-supervised Deep LiDAR Odometry for Robotic Applications

dynamic_robot_localization

Point cloud registration pipeline for robot localization and 3D perception

ego-planner-v2

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"

filterpy

Python Kalman filtering and optimal estimation library. Implements Kalman filter, particle filter, Extended Kalman filter, Unscented Kalman filter, g-h (alpha-beta), least squares, H Infinity, smoothers, and more. Has companion book 'Kalman and Bayesian Filters in Python'.

flocking_swarm_script_for_px4-autopilot

fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

gazebo_models

Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org

gazebo_models_worlds_collection

collection of gazebo models and worlds

grid_map

Universal grid map library for mobile robotic mapping

hydra

Slam visuale mit

icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

icp_ros

C++ implementation of iterative closest point. Adapted from https://github.com/ClayFlannigan/icp and https://github.com/zjudmd1015/icp

icpslam

A basic SLAM system that employs 2D and 3D LIDAR measurements

image_pose_estimation

The Ros package to track and get position in world of the selected object. Written on Python Opencv with SIFT + Homography + PnP + blue detector.

kiss-icp

KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done in the Right Way https://arxiv.org/pdf/2209.15397.pdf

lastools

efficient tools for LiDAR processing

mav_comm

This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other stacks should be moved here where possible.

mavros

MAVLink to ROS gateway with proxy for Ground Control Station

mavsdk_drone_show

Single Drone Show Basics using MAVSDK Offboard Control

neural-fly

Public facing code for Neural Fly

occupancy_grid_utils

Forked from https://kforge.ros.org/gridutils/git with Catkinizing changes. The package contains utilities for dealing with occupancy grids, represented as nav_msgs::OccupancyGrid objects, including coordinate conversions, shortest paths, ray tracing, and constructing from laser scans.

ompl_example_2d

Example ROS node which uses ompl library to plan the path of the robot on the 2D occupancy map

open_vins

An open source platform for visual-inertial navigation research.

openspife

The Open Scheduling and Planning Interface for Exploration (OpenSPIFe) is an integrated planning and scheduling toolkit based on hundreds of hours of expert observation, use, and refinement of state-of-the-art planning and scheduling technology for several applications within NASA.

orb-slam2-gpu-rgbd

GPU-accelerated ORB SLAM 2 for RGB-D vision. Works on Jetson Tx2 in real time.