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==Requirements==
Open source robotics means that information about the hardware is easily discerned, so that others can easily rebuild it. In turn, this requires design to use only easily available [[standardization|standard]] subcomponents and tools, and for the build process to be documented in detail including a [[bill of materials]] and detailed ('Ikea style') step-by-step building and testing instructions. (A CAD file alone is not sufficient, as it does not show the steps for performing or testing the build). These requirements are standard to [[open source hardware]] in general, and are formalised by various licences, certifications, especially those defined by the peer-reviewed journals
Licensing requirements for software are the same as for any [[open source software]]. But in addition, for software components to be of practical use in real robot systems, they need to be compatible with other software, usually as defined by some [[robotics middleware]] community standard.
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| doi = 10.1016/j.rcim.2013.11.003
| url =https://www.sciencedirect.com/science/article/pii/S0736584513001002
| url-access = subscription
}}</ref> or Thor<ref>{{cite web
| title = The Thor open-source robotic arm
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}}
</ref>
* UAV quadcopters (drones) such as
* Humanoid robots, e.g. [[iCub]], Berkeley Humanoid Lite<ref>{{cite arXiv |last1=Chi |first1=Yufeng |last2=Liao |first2=Qiayuan |last3=Long |first3=Junfeng |last4=Huang |first4=Xiaoyu |last5=Shao |first5=Sophia |last6=Nikolic |first6=Borivoje |last7=Li |first7=Zhongyu |last8=Sreenath |first8=Koushil |title=Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot |year=2025 |eprint=2504.17249 |class=cs.RO }}</ref>
* [[Self-driving car]]s, e.g. OpenPodcar<ref>{{cite journal
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| s2cid = 253384613
}}</ref>
* Domestic tasks: [[Robotic vacuum cleaner#Open-source designs|vacuum cleaning]]{{Broken anchor|date=2025-06-17|bot=User:Cewbot/log/20201008/configuration|target_link=Robotic vacuum cleaner#Open-source designs|reason= The anchor (Open-source designs) [[Special:Diff/1283333601|has been deleted]].|diff_id=1283333601}}, [[Scooba (brand)|floor washing]]<ref>{{cite web|url=https://github.com/saiyam-agrawal/Floor-Cleaning-Robot-v2?tab=readme-ov-file|title=Floor cleaning robot|website=[[GitHub]] |access-date=13 September 2024}}</ref> and grass mowing<ref>{{cite web|url=https://github.com/ClemensElflein/OpenMower|title=Open Mower|website=[[GitHub]] |access-date=13 September 2024}}</ref>
* Robot sports including [[robot combat]]<ref>{{cite web|title=Open builds Battlebots|url=https://us.openbuilds.com/battlebots/}}</ref> and [[autonomous racing]]<ref>{{cite web|title=f1tenth|url=https://f1tenth.org/}}</ref>
* Education<ref>{{cite book |last1=Vrochidou |first1=Eleni |last2=Manios |first2=Michail |last3=Papakostas |first3=George A. |last4=Aitsidis |first4=Charalabos N. |last5=Panagiotopoulos |first5=Fotis |title=2018 26th International Conference on Software, Telecommunications and Computer Networks (SoftCOM) |chapter=Open-Source Robotics: Investigation on Existing Platforms and Their Application in Education |date=September 2018 |pages=1–6 |doi=10.23919/SOFTCOM.2018.8555860|isbn=978-9-5329-0087-3 |s2cid=54438146 }}</ref>
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Open subcomponents can include [[open-source computing hardware]] as subcomponents, such as [[Arduino]] and [[RISC-V]], as well as open source motors and drivers such as the Open Source Motor Controller and [[ODrive]].
Open hardware robotics interface boards<ref>{{cite journal
| last1 = Waltham | first1 = Chris
| last2 = Soni | first2 = Rakshit
| last3 = Perrett | first3 = Andy
| last4 = Fox | first4 = Charles
| year = 2025
| title = R4: rapid reproducible robotics research open hardware control system
| journal = Journal of Open Hardware
| volume = 9
| issue = 1
| arxiv = 2402.09833
}}</ref> can simplify interfacing between middleware software and physical hardware.
== Software subcomponents ==
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=== Middleware ===
[[Robotics middleware]] is software which links multiple other software components together. In robotics, this specifically means real-time communication systems with standardized message passing protocols. The predominant open source middleware is [[Robot Operating System|ROS2]], the robot operating system, now as version 2. Other alternatives include ROS1, YARP — used in the [[iCub]], [[URBI]], and [[Orca]]. Open source middleware is usually run on an open source operating system, especially the [[Ubuntu]] distribution of [[Linux]].
=== Driver software ===
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=== Simulation software ===
Open source robotics simulators include [[Gazebo simulator|Gazebo]], [[MuJoCo]] and [[Webots]]. Open source 3D game engines such as [[Godot (game engine)|Godot]] are also sometimes used as simulators, when equipped with suitable middleware interfaces.<ref>{{Citation |last=nordstream3 |title=nordstream3/Godot-4-ROS2-integration |date=2025-03-07 |url=https://github.com/nordstream3/Godot-4-ROS2-integration |access-date=2025-03-09}}</ref><ref>{{Cite web |title=ProviewR X Godot |url=https://www.nexedi.com/blog/P-OSIE-Blog.ProviewR.Godot |archive-url=
=== Automation software ===
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* [[Machine vision]] systems such as the [[You Only Look Once|YOLO]] object detector.
* 3D [[photogrammetry]]<ref>{{cite book |last1=Jensen |first1=Austin M. |last2=Morgan |first2=Daniel |last3=Chen |first3=YangQuan |last4=Clemens |first4=Shannon |last5=Hardy |first5=Thomas |title=Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference |chapter=Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D Photogrammetry and Distributed Wind Measurement |date=1 January 2009 |pages=629–634 |doi=10.1115/DETC2009-87586|isbn=978-0-7918-4900-2 }}</ref>
* Navigation including [[Simultaneous localization and mapping|SLAM]] and planning such as
| title = nav2
| url = https://docs.nav2.org//
* Arm inverse kinematics such as [[moveIt]]▼
| access-date = 2024-10-20
}}</ref>
| title = MoveIt 2
| url = https://moveit.picknik.ai/humble/index.html
| access-date = 2024-10-20
}}</ref>
==Community==
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