Open-source robotics: Difference between revisions

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* UAV quadcopters (drones) such as [[Agilicious]]<ref>{{cite journal |last1=Foehn |first1=Philipp |last2=Kaufmann |first2=Elia |last3=Romero |first3=Angel |last4=Penicka |first4=Robert |last5=Sun |first5=Sihao |last6=Bauersfeld |first6=Leonard |last7=Laengle |first7=Thomas |last8=Cioffi |first8=Giovanni |last9=Song |first9=Yunlong |last10=Loquercio |first10=Antonio |last11=Scaramuzza |first11=Davide |title=Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight |journal=Science Robotics |date=22 June 2022 |volume=7 |issue=67 |pages=eabl6259 |doi=10.1126/scirobotics.abl6259 |pmid=35731886 |arxiv=2307.06100 |s2cid=249955269 |language=en |issn=2470-9476}}</ref>

* 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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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 source robots are often used together with, so are designed to interface to, the open source robotics middleware [[Robot Operating System]] and various open source simulators such as [[Gazebo simulator|Gazebo]], running on the open source [[Linux]] operating system.

Open hardware robotics interface boards<ref>{{cite journal

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}}</ref> can simplify interfacing between middleware software and physical hardware.

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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=httphttps://web.archive.org/web/20240302131907/https://www.nexedi.com/blog/P-OSIE-Blog.ProviewR.Godot |archive-date=2 March 2024-03-02 |access-date=2025-03-09 |website=Nexedi |url-status=live }}</ref><ref>{{Cite arXiv |eprint=2412.18408 |last1=Peraltai |first1=Daniel |last2=Qin |first2=Xin |title=Exploring Flexible Scenario Generation in Godot Simulator |date=2024 |class=cs.AI }}</ref><ref>{{Citation |title=plaans/gobot-sim |date=2025-01-27 |url=https://github.com/plaans/gobot-sim |access-date=2025-03-09 |publisher=PLAN @ LAAS (plaans)}}</ref>

=== 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 [[gmapping]]nav2<ref>{{cite web

| title = nav2

* Mobile robot planning such as [[move base]]

| url = https://docs.nav2.org//

* Arm inverse kinematics such as [[moveIt]]

| access-date = 2024-10-20

}}</ref>

* Arm inverse kinematics such as [[moveIt]]moveIt2<ref>{{cite web

| title = MoveIt 2

| url = https://moveit.picknik.ai/humble/index.html

| access-date = 2024-10-20

}}</ref>

==Community==