Robotics-Resources

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A curated list of libraries, softwares, simulators for robotics. Recently, I added a list of important books and conferences for Robotics.

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Note: The data in this repository is updated and accurate to the best of my knowledge. In case of any correction, deletion or addition of information please raise an issue. A mail can also be written to [adwaitnaik2@gmail.com].

Libraries
Visualization
Robot Vision
Robot Perception
Motion Planning
Graphics Engine/ Environments
SLAM
Some cool repositories
Other essential packages and libraries
Textbooks
Scientific-journals
Series-of-international-scientific-conferences

Libraries

Python-based libraries

Pybotics - python based library for roboti kinematics and calibration. It is mainly designed to work on Denavit–Hartenberg parameters principle. [github ]
PyBullet - a python module for physics simulation of robots, loading URDF, SDF, MJCF files etc.[github ]
Pygame - a library for used for game development and creating objects in 2D space.[github ]
pclpy 0.11.0 - a library used for creating point clouds for applications related to computer vision, robotics and computer graphics. [github ]
collision - this library is mainly used for collision checking in 2D space along with pygame. [github ]
Ropy - A library by Peter Corke based on the paper “Maximising manipulability during resolved-rate motion control,”.[github][Paper]
pybotvac - This is an unofficial API for controlling Neato Botvac Connected vacuum robots. [github]
pybot - Research tools for autonomous systems using Python. [github]
PyBot - a python module for creating and deploying twitter bots. [github]
pybotgram - A Telegram Bot written in Python with plugins based in yagop telegram-bot using tg. [github]
pyrobottraining- This is a repository that can be used as a tool to teach you about programming an FRC robot using python and the RobotPy WPILib libraries.[github]
airobot - AIRobot is a python library to interface with robots. It follows a similar architecture from PyRobot. [github]
ropy - A successor to the famous Peter Corke’s robotics toolbox, this library is written in python to control robots in a simulated environments. [github]

C++ based libraries

MRPT - Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. [github ]
Flexible collision library - this is mainly used for collision checking in 3D space in motion planning. [github ]
Trajopt - is a C++ based library by UC berkeley for Motion planning, trajectory optimisation, etc. [github ]
Eprosima - eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium [github ]
Sophus - This is a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems (i.e. for Computer Vision or Robotics applications).[github ]
ModernRoboticsCpp - Mechanics, Planning, and Control C++ Library — The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. [github ]
FIESTA: Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance_ and gradient information against obstacles. [github ]

Visualization

VTKexamples - a library based on pyhton for collision detection, making 3D meshes etc. [github ]
Pyglet - a library primarily used for game development and computer graphics applications.[github ]
PyOpenGL - a cross platform library based on python and OpenGL. [github ]

Robot Vision

OpenCV - OpenCV (Open Source Computer Vision Library) is an open source computer vision and machine learning software library. OpenCV was built to provide a common infrastructure for computer vision applications and to accelerate the use of machine perception in the commercial products. [github]
SimpleCV - SimpleCV is an open source framework for building computer vision applications. With it, you get access to several high-powered computer vision libraries such as OpenCV – without having to first learn about bit depths, file formats, color spaces, buffer management, eigenvalues, or matrix versus bitmap storage. [github]
ViSP - Visual Servoing Platform [github ]

Robot Perception

CUDA Visual Library - This library focuses on the front-end of VIO pipelines.[github]

Motion Planning

sparse-rrt 0.0.2 - This package is based on Sparse-RRT project sparse_rrt.The main purpose of this work is to allow running Sparse-RRT planner in python environment.[github ]
OMPL - OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms. OMPL itself does not contain any code related to, e.g., collision checking or visualization.[github ]
MPL - Motion Planning Kit (MPK) is a C++ library and toolkit for developing single- and multi-robot motion planners.Documentaion
Robotics Library - The Robotics Library (RL) is a self-contained C++ library for robot kinematics, motion planning and control. It covers mathematics, kinematics and dynamics, hardware abstraction, motion planning, collision detection, and visualization.Documentation
SIMOX - The aim of the lightweight platform independent C++ toolbox Simox is to provide a set of algorithms for 3D simulation of robot systems, sampling based motion planning and grasp planning.[github ]
AIKIDO - Solving robotic motion planning and decision making problems. [github ]
TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [github ]
The Kautham Project - A robot simulation toolkit for motion planning [github ]
ROS Behavior Tree - [github ]
OCS2 - Efficient continuous and discrete time optimal control implementation [bitbucket]
GPMP2 - Gaussian Process Motion Planner 2 [github ]
Crocoddyl - Optimal control library for robot control under contact sequence [github ]
Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [github ]
Tesseract - A major planning framework for forward and inverse kinematics. [github ]
MRSL - A search-based planner for quadcoptors in obstacle cluttered environment. [github ]

Graphics Engine/ Environments

OpenRave( Open Robotics Automation Virtual Environment) - it focuses on developing and testing motion planning algorithms for robotic applications. It is available in C++, Python. Documentation
Webots - It provides a complete development environment to model, program and simulate robots, vehicles and biomechanical systems.[github]
Stage - Stage is a 2(.5)D robotics standalone simulator and can also be used as a C++ library to build your own simulation environment. [github]
Player - is one of the most popular mobile robot simulator. [github]
RoboDK - is a robot simulator which allows programming and simulating any robot online and offline. It is mailny used for industrial applications. [github]
Mobile Robot Simulator - Mobile robot simulator in MATLAB.[github]

SLAM

AprilSAM - Real-time smoothing and mapping [github ]
Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations [github ]
DSO - Novel direct and sparse formulation for Visual Odometry [github ]
ElasticFusion - Real-time dense visual SLAM system [github ]
fiducials - Simultaneous localization and mapping using fiducial markers [github ]
GTSAM - Smoothing and mapping (SAM) in robotics and vision [github ]
Kintinuous - Real-time large scale dense visual SLAM system [github ]
LSD-SLAM - Real-time monocular SLAM [github ]
ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras [github ]
RTAP-Map - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector [github ]
SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [github ]

Other essential packages and libraries

ROS - ROS is a meta-operating system for your robot. It provides language-independent and network-transparent communication for adistributed robot control system. [github)]
trimesh - a package for loading and making meshes. [github]
Tkinter - a package used for visualization. documentation tutorial
Pymesh - is a python based rapid prototyping platform for geometric and computer vision applications.[github]
Mesh -A Processing library for computing convex hulls, delaunay graphs and voronoi graphs from groups of points.[github ]
OpenMesh - A generic and efficient polygon mesh data structure. Relocated-to-this [Docs]
libigl - A simple C++ geometry processing library[github]
PyGEL - Python library for geometry processing [github ] [Docs]
pmp-library - C++ based library for processing and generating meshes. [github]
Delynoi: an object-oriented C++ library for the generation of polygonal meshes [github]
Cinolib: a Generic Programming Header Only C++ Library for Processing Polygonal and Polyhedral Meshes[github] paper
cilantro - A lean C++ library for working with point cloud data.[github]
PDAL - Point Data Abstraction Library, is a C++ BSD library for translating and manipulating point cloud data. It is very much like the GDAL library which handles raster and vector data.[github]
LEPCC - Limited Error Point Cloud Compression, a library written in C++ for point cloud compression.[github]
chainer - flexible framework for working with neural networks. [github]
shogun - a machine learning toolbox build on C++. It also supports python. [github]
Apache Spark - Spark is a unified analytics engine for large-scale data processing. [github]
Pinocchio - instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone’s algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm. [github]
Crocoddyl - Contact RObot COntrol by Differential DYnamic programming Library. [github]
FCL- FCL is a library for performing three types of proximity queries on a pair of geometric models composed of triangles.. [github]