机器人开发库软件大列表

’Awesome Robotics Libraries - A curated list of robotics libraries and software' by Jeongseok Lee

来源：http://jslee02.github.io/awesome-robotics-libraries/

Awesome Robotics Libraries

A curated list of robotics simulators and libraries.

Table of Contents

• Simulators
• Libraries
  • Dynamics Simulation
  • Machine Learning
  • Motion Planning and Control
  • Optimization
  • Robot Modeling
  • Robot Platform
  • SLAM
  • Vision
• Other Awesome Lists
• Contributing

Simulators

Free or Open Source

• AirSim - Simulator based on Unreal Engine for autonomous vehicles [github
• ARTE - Matlab toolbox focussed on robotic manipulators [github
• Gazebo - Dynamic multi-robot simulator [bitbucket]
• GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs [github
• Isaac - Nvidia’s virtual simulator for robots
• MORSE - Modular open robots simulation engine [github
• V-REP - Virtual robot experimentation platform

Commercial

• Actin Simulation
• RobotDK - Simulation and OLP for robots
• RobotStudio
• Robot Virtual Worlds
• Virtual Robotics Toolkit
• Visual Components
• Webots - Robot simulator that provides a complete development environment

Libraries

Dynamics Simulation

:warning: The following table is not complete. Please feel free to report if you find something incorrect or missing.

For simplicity, shortened names are used to represent the supported models and features as

• Supported Models
  • rigid: rigid bodies
  • soft: soft bodies
  • aero: aerodynamics
  • granular: granular materials (like sand)
  • fluid: fluid dynamics
  • vehicles
  • uav: unmanned aerial vehicles (like drones)
  • medical
  • molecules
  • parallel: parallel mechanism (like Stewart platform)
• Features on Simulation, Analysis, Planning, Control Design
  • dm: discrete mechanics
  • ik: inverse kinematics solvers
  • id: inverse dynamics
  • slam: simultaneous localization and mapping
  • trj-opt: trajectory optimization
  • plan: motion planning algorithms
  • cv: computer vision
  • urdf: urdf parser
  • sdf: sdf parser

Machine Learning

• OpenAI Gym - Developing and comparing reinforcement learning algorithms [github]
  • gym-dart [github]
  • gym-gazebo [github]

Motion Planning and Control

• Aikido - Solving robotic motion planning and decision making problems. [github]
• CuiKSuite - Applications to solve position analysis and path planning problems
• Control Toolbox - Control, estimation, optimization and motion planning in robotics [bitbucket]
• HPP - Path planning for kinematic chains in environments cluttered with obstacles [github]
• MoveIt! - Motion planning framework [github]
• OMPL - Open motion planning library [bitbucket, github]

Motion Optimizer

• trajopt - Framework for generating robot trajectories by local optimization [github]

Nearest Neighbor

• Cover-Tree - Cover tree data structure for quick k-nearest-neighbor search [github]
  • Faster cover trees by Mike Izbicki et al., ICML 2015.
• FLANN - Fast Library for Approximate Nearest Neighbors [github]
• nanoflann - Nearest Neighbor search with KD-trees [github]

3D Mapping

• OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [github]
• voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields [github]

Optimization

• CasADi - Symbolic framework for algorithmic differentiation and numeric optimization [github]
• Ceres Solver - Large scale nonlinear optimization library [github]
• Ipopt - Large scale nonlinear optimization library [github]
• libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm [github]
• limbo - Gaussian processes and Bayesian optimization of black-box functions [github]
• NLopt - Nonlinear optimization [github]
• RobOptim - Numerical Optimization for Robotics. [github]
• SCS - Numerical optimization for solving large-scale convex cone problems [github]
• sferes2 - Evolutionary computation [github]

Robot Modeling

Robot Model Description Format

• SDF - XML format that describes objects and environments for robot simulators, visualization, and control (bitbucket)
• urdf - XML format for representing a robot model [github]

Utility to Build Robot Models

• phobos - Add-on for Blender creating URDF and SMURF robot models [github]

Robot Platform

• Linorobot - ROS compatible ground robots [github]
  • onine - Service Robot based on Linorobot and Braccio Arm [github]
• Rock - Software framework for robotic systems
• ROS - Flexible framework for writing robot software [github repos]
• YARP - Communication and device interfaces applicable from humanoids to embedded devices [github]

SLAM

• 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]
• 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]
• SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [github]

Vision

• ViSP - Visual Servoing Platform [github]

Other Awesome Lists

• Awesome Robotics (Kiloreux)
• Awesome Robotics (ahundt)
• Awesome Artificial Intelligence
• Awesome Collision Detection
• Awesome Computer Vision
• Awesome Machine Learning
• Awesome Deep Learning
• Awesome Gazebo
• PythonRobotics

Contributing

Contributions are very welcome! Please read the contribution guidelines first. Also, please feel free to report any error.

License