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Just a bunch of powerful robotic resources and tools for professional robotic development with ROS in C++ and Python.
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Awesome Robotic Tooling Awesome

Just a bunch of powerful robotic resources and tools for professional robotic development with ROS in C++ and Python.

Lets build a complete open source robotic development environment together.

Coordination and Communication

  • Unix philosophy - Set of cultural norms for developing software
  • Agile Development - Manifesto for Agile Software Development
  • Gitflow - Makes parallel development very easy, by isolating new development from finished work
  • DeepL - DeepL, an online translator that outperforms Google, Microsoft and Facebook
  • Taiga - Agile Projectmanagment Tool
  • Kanboard - Minimalistic Kanban Board
  • Gitlab - Simple Selfhosted Gitlab Server with Docker
  • Gogs - Aims to build a simple, stable and extensible self-hosted Git service that can be setup in the most painless way
  • Woost - Workflow Automation, Collaboration with Externals
  • Wekan - Meteor based Kanban Board
  • JIRA API - Python Library for REST API of Jira
  • Taiga API - Python Library for REST API of Taiga
  • Chronos-Timetracker - Desktop client for JIRA. Track time, upload worklogs without a hassle
  • Grge - Grge is a daemon and command line utility augmenting GitLab
  • gitlab-triage - GitLab's issues and merge requests triage, automated!
  • Helpy - is a modern, open source helpdesk customer support application
  • ONLYOFFICE - is a free open source collaborative system developed to manage documents, projects, customer relationship and email correspondence, all in one place.

Documentation and Presentation

  • Typora - A Minimalist Markdown Editor
  • Markor - A Simple Markdown Editor for your Android Device
  • Pandoc - Universal markup converter
  • Yaspeller - Command line tool for spell checking
  • Doxygen - Doxygen is the de facto standard tool for generating documentation from annotated C++ sources
  • Word-to-Markdown - A ruby gem to liberate content from Microsoft Word document
  • carbon - Share beautiful images of your source code
  • ASCIIMATICS - Create a GIF for your command line examples
  • inkscape - Inkscape is a professional vector graphics editor for Linux, Windows and macOS
  • Reveal-Hugo - A Hugo theme for Reveal.js that makes authoring and customization a breeze. With it, you can turn any properly-formatted Hugo content into a HTML presentation.
  • Hugo-Webslides - This is a Hugo template to create WebSlides presentation using markdown.
  • jupyter2slides - Cloud Native Presentation Slides with Jupyter Notebook + Reveal.js
  • patat - Terminal-based presentations using Pandoc
  • github-changelog-generator - Automatically generate change log from your tags, issues, labels and pull requests on GitHub.
  • GitLab-Release-Note-Generator - A Gitlab release note generator that generates release note on latest tag
  • Gerrit - is a code review and project management tool for Git based projects

Architecture and Design

  • yed - yEd is a powerful desktop application that can be used to quickly and effectively generate high-quality diagrams
  • yed_py - Generates graphML that can be opened in yEd
  • Plantuml - Web application to generate UML diagrams on-the-fly in your live documentation
  • rqt_graph - rqt_graph provides a GUI plugin for visualizing the ROS computation graph
  • rqt_launchtree - An RQT plugin for hierarchical launchfile configuration introspection.
  • cpp-dependencies - Tool to check C++ #include dependencies (dependency graphs created in .dot format)
  • pydeps - Python Module Dependency graphs
  • aztarna - a footprinting tool for robots.


  • ROS - ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications
  • ROS2 - ROS2 is the next generation robot operating system, and is actively being developed to fully replace ROS1 in the near future
  • OpenPilot - Open Source Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS)
  • Apollo - High performance, flexible architecture which accelerates the development, testing, and deployment of Autonomous Vehicles.
  • - Autoware.AI is the world's first "All-in-One" open-source software for autonomous driving technology
  • AutowareAuto - It is a clean slate rewrite of Autoware. Autoware.Auto applies best-in-class software engineering.
  • Stanford Self Driving Car Code - Stanford Code From Cars That Entered DARPA Grand Challenges
  • astrobee - Astrobee is a free-flying robot designed to operate as a payload inside the International Space Station (ISS).

Development Environment


  • ROS - Template for ROS node standardization in C++
  • Launch - Templates on how to create launch files for larger projects
  • Bash - A bash scripting template incorporating best practices & several useful functions
  • URDF - Examples on how to create Unified Robot Description Format (URDF) for different kinds of robots
  • Python - Style guide to be followed in writing Python code for ROS
  • Docker - The Dockerfile in the minimal-ade project shows a minimal example of how to create a custom base image

Code and Run

  • Vim-ros - Vim plugin for ROS development
  • Visual Studio Code - Code editor for edit-build-debug cycle.
  • atom - Hackable text editor for the 21st century
  • Sublime - A sophisticated text editor for code, markup and prose
  • ade-cli - The ADE Development Environment (ADE) uses docker and Gitlab to manage environments of per project development tools and optional volume images
  • Jupyter ROS - Jupyter widget helpers for ROS, the Robot Operating System
  • ros_rqt_plugin - The ROS Qt Creator Plug-in
  • ROS IDEs - This page collects experience and advice on using integrated development environments (IDEs) with ROS.
  • TabNine - The all-language autocompleter
  • kite - Use machine learning to give you useful code completions for Python
  • jedi - Autocompletion and static analysis library for python
  • roslibpy - Python ROS Bridge library allows to use Python and IronPython to interact with ROS, the open-source robotic middleware.
  • pybind11 - Seamless operability between C++11 and Python

Build and Deploy

  • bloom - A release automation tool which makes releasing catkin packages easier
  • catkin_tools - Command line tools for working with catkin
  • industrial_ci - Easy continuous integration repository for ROS repositories
  • gitlab-runner - runs tests and sends the results to GitLab
  • colcon-core - command line tool to improve the workflow of building, testing and using multiple software packages
  • gitlab-release - Simple python3 script to upload files (from ci) to the current projects release (tag)
  • clang - This is a compiler front-end for the C family of languages (C, C++, Objective-C, and Objective-C++) which is built as part of the LLVM compiler infrastructure project
  • catkin_virtualenv - Bundle python requirements in a catkin package via virtualenv
  • aptly - Debian repository management tool
  • cross_compile - Assets used for ROS2 cross-compilation

Unit and Integration Test

  • UnitTesting - This page lays out the rationale, best practices, and policies for writing and running unit tests and integration tests for ROS.
  • googletest - Google's C++ test framework
  • pytest - The pytest framework makes it easy to write small tests, yet scales to support complex functional testing
  • doctest - The fastest feature-rich C++11/14/17/20 single-header testing framework for unit tests and TDD

Lint and Format

  • cppcheck - Static analysis of C/C++ code
  • hadolint - Dockerfile linter, validate inline bash, written in Haskell
  • shellcheck - a static analysis tool for shell scripts
  • catkin_lint - catkin_lint checks package configurations for the catkin build system of ROS.
  • pylint - Pylint is a Python static code analysis tool which looks for programming errors, helps enforcing a coding standard, sniffs for code smells and offers simple refactoring suggestions.
  • black - The uncompromising Python code formatter
  • pydocstyle - pydocstyle is a static analysis tool for checking compliance with Python docstring conventions
  • haros - H(igh) A(ssurance) ROS - Static analysis of ROS application code.

Launch and Monitor

  • rosmon - ROS node launcher & monitoring daemon
  • multimaster_fkie - GUI-based management environment that is very useful to manage ROS-launch configurations and control running nodes

Version Control

  • meld - Meld is a visual diff and merge tool that helps you compare files, directories, and version controlled projects
  • tig - Text-mode interface for git
  • gitg - is a graphical user interface for git
  • git-cola - The highly caffeinated Git GUI
  • python-gitlab - is a Python package providing access to the GitLab server API.
  • bfg-repo-cleaner - Removes large or troublesome blobs like git-filter-branch does, but faster.
  • nbdime - Tools for diffing and merging of Jupyter notebooks.
  • semantic-release - Fully automated version management and package publishing
  • go-semrel-gitab - Automate version management for Gitlab
  • Git-repo - Git-Repo helps manage many Git repositories, does the uploads to revision control systems, and automates parts of the development workflow


  • HRIM - An information model for robot hardware
  • URDF - Repository for Unified Robot Description Format (URDF) parsing code
  • urdf-viz - Visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux
  • solidworks_urdf_exporter - SolidWorks to URDF Exporter
  • FreeCAD - Your own 3D parametric modeler


  • lidar_align - A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
  • kalibr - The Kalibr visual-inertial calibration toolbox
  • Calibnet - Self-Supervised Extrinsic Calibration using 3D Spatial Transformer Networks
  • lidar_camera_calibration - ROS package to find a rigid-body transformation between a LiDAR and a camera
  • ILCC - Reflectance Intensity Assisted Automatic and Accurate Extrinsic Calibration of 3D LiDAR
  • easy_handeye - Simple, straighforward ROS library for hand-eye calibration
  • imu_utils - A ROS package tool to analyze the IMU performance
  • kalibr_allan - IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters


  • Drake - Drake aims to simulate even very complex dynamics of robots
  • Webots - Webots is an open source robot simulator compatible (among others) with ROS and ROS2.
  • lgsv - LG Electronics America R&D Center has developed an HDRP Unity-based multi-robot simulator for autonomous vehicle developers.
  • carla - Open-source simulator for autonomous driving research
  • deepdive - End-to-end simulation for self-driving cars
  • uuv_simulator - Gazebo/ROS packages for underwater robotics simulation
  • AirSim - Open source simulator for autonomous vehicles built on Unreal Engine
  • self-driving-car-sim - A self-driving car simulator built with Unity
  • ROSIntegration - Unreal Engine Plugin to enable ROS Support
  • gym-gazebo - An OpenAI gym extension for using Gazebo known as gym-gazebo
  • highway-env - A collection of environments for autonomous driving and tactical decision-making tasks
  • VREP Interface - ROS Bridge for the VREP simulator
  • car_demo - This is a simulation of a Prius in gazebo 9 with sensor data being published using ROS kinetic.
  • sumo - Eclipse SUMO is an open source, highly portable, microscopic and continuous road traffic simulation package designed to handle large road networks

Sensor Processing


  • SARosPerceptionKitti - ROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark Suite
  • multiple-object-tracking-lidar - C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud

Parallel Processing

  • dask - Parallel computing with task scheduling for Python
  • cupy - NumPy-like API accelerated with CUDA
  • thrust - Thrust is a C++ parallel programming library which resembles the C++ Standard Library.
  • ArrayFire - ArrayFire: a general purpose GPU library.

Machine Learning

  • DLIB - A toolkit for making real world machine learning and data analysis applications in C++
  • fastai - The fastai library simplifies training fast and accurate neural nets using modern best practices.
  • tpot - A Python Automated Machine Learning tool that optimizes machine learning pipelines using genetic programming
  • deap - Distributed Evolutionary Algorithms in Python
  • gym - A toolkit for developing and comparing reinforcement learning algorithms.
  • tensorflow_ros_cpp - A ROS package that allows to do Tensorflow inference in C++ without the need to compile TF yourself.
  • cadrl_ros - ROS package for dynamic obstacle avoidance for ground robots trained with deep RL

Image Processing

  • vision_visp - Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package
  • deep_object_pose - Deep Object Pose Estimation
  • DetectAndTrack - Detect-and-Track: Efficient Pose
  • SfMLearner - An unsupervised learning framework for depth and ego-motion estimation
  • imgaug - Image augmentation for machine learning experiments
  • vision_opencv - Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.
  • darknet_ros - YOLO ROS: Real-Time Object Detection for ROS
  • tf-pose-estimation - Deep Pose Estimation implemented using Tensorflow with Custom Architectures for fast inference.
  • find-object - Simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors
  • yolact - A simple, fully convolutional model for real-time instance segmentation.
  • Kimera-Semantics - Real-Time 3D Semantic Reconstruction from 2D data
  • detectron2 - is a next-generation research platform for object detection and segmentation.

Point Cloud Processing

  • cilantro - A lean C++ library for working with point cloud data
  • open3d - Open3D: A Modern Library for 3D Data Processing
  • SqueezeSeg - Implementation of SqueezeSeg, convolutional neural networks for LiDAR point clout segmentation
  • point_cloud_io - ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).
  • python-pcl - Python bindings to the pointcloud library
  • libpointmatcher - An "Iterative Closest Point" library for 2-D/3-D mapping in Robotics
  • depth_clustering - Fast and robust clustering of point clouds generated with a Velodyne sensor.
  • lidar-bonnetal - Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving
  • CSF - LiDAR point cloud ground filtering / segmentation (bare earth extraction) method based on cloth simulation
  • robot_body_filter - A highly configurable LaserScan/PointCloud2 filter that allows to dynamically remove the 3D body of the robot from the measurements.
  • grid_map - Universal grid map library for mobile robotic mapping
  • elevation_mapping - Robot-centric elevation mapping for rough terrain navigation
  • rangenet_lib - contains simple usage explanations of how the RangeNet++ inference works with the TensorRT and C++ interface.
  • pointcloud_to_laserscan - Converts a 3D Point Cloud into a 2D laser scan.
  • octomap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees


  • evo - Python package for the evaluation of odometry and SLAM
  • robot_localization - is a package of nonlinear state estimation nodes
  • fuse - General architecture for performing sensor fusion live on a robot.
  • rep-105 - Naming conventions and semantic meaning for coordinate frames of mobile platforms used with ROS.
  • GeographicLib - A C++ library for geographic projections.
  • ntripbrowser - A Python API for browsing NTRIP (Networked Transport of RTCM via Internet Protocol).
  • imu_tools - IMU-related filters and visualizers.
  • RTKLIB - A version of RTKLIB optimized for single and dual frequency low cost GPS receivers, especially u-blox receivers



  • loam_velodyne - Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
  • lio-mapping - Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
  • A-LOAM - Advanced implementation of LOAM
  • cartographer_ros - Provides ROS integration for Cartographer
  • loam_livox - A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
  • StaticMapping - Use LiDAR to map the static world
  • semantic_suma - Semantic Mapping using Surfel Mapping and Semantic Segmentation


  • dso - Direct Sparse Odometry
  • viso2 - A ROS wrapper for libviso2, a library for visual odometry
  • xivo - X Inertial-aided Visual Odometry
  • rovio - Robust Visual Inertial Odometry Framework
  • MIT Kimera-Semantics - C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM)
  • LSD-SLAM - LSD-SLAM: Large-Scale Direct Monocular SLAM is a real-time monocular SLAM
  • CubeSLAM and ORB SLAM - Monocular 3D Object Detection and SLAM Package of CubeSLAM and ORB SLAM
  • VINS-Fusion - A Robust and Versatile Multi-Sensor Visual-Inertial State Estimator

Static Map

  • OpenDRIVE - OpenDRIVE® is an open file format for the logical description of road networks
  • MapsModelsImporter - A Blender add-on to import models from google maps
  • Lanelet2 - Map handling framework for automated driving
  • barefoot - Online and Offline map matching that can be used stand-alone and in the cloud
  • iD - The easy-to-use OpenStreetMap editor in JavaScript
  • segmap - A map representation based on 3D segments
  • Mapbox - is a JavaScript library for interactive, customizable vector maps on the web
  • osrm-backend - Open Source Routing Machine - C++ backend

Behavior and Decision

  • BehaviorTree.CPP - Behavior Trees Library in C++
  • RAFCON - Uses hierarchical state machines, featuring concurrent state execution, to represent robot programs

Planning and Control

  • rrt - C++ RRT (Rapidly-exploring Random Tree) implementation
  • HypridAStarTrailer - A path planning algorithm based on Hybrid A* for trailer truck.
  • path_planner - Hybrid A* Path Planner for the KTH Research Concept Vehicle
  • open_street_map - ROS packages for working with Open Street Map geographic information.
  • Open Source Car Control - is an assemblage of software and hardware designs that enable computer control of modern cars in order to facilitate the development of autonomous vehicle technology
  • fastrack - A ROS implementation of Fast and Safe Tracking (FaSTrack).

Data Interaction

Graphical User Interface

  • dynamic_reconfigure - The focus of dynamic_reconfigure is on providing a standard way to expose a subset of a node's parameters to external reconfiguration
  • mir - Mir is set of libraries for building Wayland based shells
  • qtpy - Provides an uniform layer to support PyQt5, PySide2, PyQt4 and PySide with a single codebase
  • rqt - rqt is a Qt-based framework for GUI development for ROS. It consists of three parts/metapackages
  • cage - This is Cage, a Wayland kiosk. A kiosk runs a single, maximized application.
  • chilipie - Easy-to-use Raspberry Pi image for booting directly into full-screen Chrome

Command Line

  • dotfiles of cornerman - Powerful zsh and vim dotfiles
  • dotbot - A tool that bootstraps your dotfiles
  • prompt-hjem - A beautiful zsh prompt
  • ag - A code-searching tool similar to ack, but faster.
  • fzf - A command-line fuzzy finder
  • pkgtop - Interactive package manager and resource monitor designed for the GNU/Linux.
  • gocui - Minimalist Go package aimed at creating Console User Interfaces.
  • TerminalImageViewer- Small C++ program to display images in a (modern) terminal using RGB ANSI codes and unicode block graphics characters
  • rosshow - Visualize ROS topics inside a terminal with Unicode/ASCII art
  • python-prompt-toolkit - Library for building powerful interactive command line applications in Python
  • bash-script-template - A best practices Bash script template with several useful functions
  • guake - Drop-down terminal for GNOME
  • wemux - Multi-User Tmux Made Easy
  • tmuxp - tmux session manager built on libtmux
  • mapscii - World map renderer for your console
  • terminator - The goal of this project is to produce a useful tool for arranging terminals
  • bat - A cat(1) clone with wings.

Storage and Record

  • ncdu - Ncdu is a disk usage analyzer with an ncurses interface
  • borg - Deduplicating archiver with compression and authenticated encryption
  • bag-database - A server that catalogs bag files and provides a web-based UI for accessing them
  • marv-robotics - MARV Robotics is a powerful and extensible data management platform
  • kitti2bag - Convert KITTI dataset to ROS bag file the easy way!
  • rosbag_editor - Create a rosbag from a given one, using a simple GUI
  • nextcloud - Nextcloud is a suite of client-server software for creating and using file hosting services.
  • ros_type_introspection - Deserialize ROS messages that are unknown at compilation time

Network Distributed File Systems

  • sshfs - File system based on the SSH File Transfer Protocol
  • moosefs - a scalable distributed storage system
  • ceph - is a distributed object, block, and file storage platform
  • nfs - is a distributed file system protocol originally developed by Sun Microsystems A fully functional local AWS cloud stack. Develop and test your cloud & Serverless apps offline!

High Performance Computing

  • localstack - A fully functional local AWS cloud stack. Develop and test your cloud & Serverless apps offline
  • nvidia-docker - Build and run Docker containers leveraging NVIDIA GPUs
  • kubernetes - Production-Grade Container Scheduling and Management
  • kubeflow - Machine Learning Toolkit for Kubernetes
  • log-pilot - Collect logs for docker containers
  • traefik - The Cloud Native Edge Router
  • graylog2-server - Free and open source log management
  • ansible - Ansible is a radically simple IT automation platform that makes your applications and systems easier to deploy
  • docker-py - A Python library for the Docker Engine API
  • noVNC - VNC client using HTML5
  • Slurm - Slurm: A Highly Scalable Workload Manager
  • jupyterhub - Multi-user server for Jupyter notebooks
  • Portainer - Making Docker management easy


  • rviz_cloud_annotation - Point cloud annotation tool based on RViz
  • PixelAnnotationTool - Annotate quickly images
  • LabelImg - LabelImg is a graphical image annotation tool and label object bounding boxes in images
  • cvat - Powerful and efficient Computer Vision Annotation Tool (CVAT)


  • webviz - web-based visualization libraries like rviz
  • - An open-source, interactive graphing library for Python
  • PlotJuggler - The timeseries visualization tool that you deserve
  • bokeh - Interactive Data Visualization in the browser, from Python
  • voila - From Jupyter notebooks to standalone web applications and dashboards
  • Pangolin - Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
  • rqt_bag - provides a GUI plugin for displaying and replaying ROS bag files.
  • - is a powerful open source geospatial analysis tool for large-scale data sets.
  • qgis_ros - Access bagged and live topic data in a highly featured GIS environment
  • openmct - A web based mission control framework.
  • web_video_server - HTTP Streaming of ROS Image Topics in Multiple Formats
  • rvizweb - RVizWeb provides a convenient way of building and launching a web application with features similar to RViz

Point Clouds

  • CloudCompare - CloudCompare is a 3D point cloud (and triangular mesh) processing software.
  • Potree - WebGL point cloud viewer for large datasets
  • point_cloud_viewer - makes viewing massive point clouds easy and convenient
  • ParaView - VTK-based Data Analysis and Visualization Application


  • mapviz - Modular ROS visualization tool for 2D data.
  • rviz_cinematographer - Easy to use tools to create and edit trajectories for the rviz camera.
  • rviz_satellite - Display internet satellite imagery in RViz
  • rviz_visual_tools - C++ API wrapper for displaying shapes and meshes in Rviz
  • tf_keyboard_cal - Allows manual control of a TF through the keyboard or interactive markers


  • htop - htop is an interactive text-mode process viewer for Unix systems. It aims to be a better 'top'.
  • atop - System and process monitor for Linux with logging and replay function
  • psutil - Cross-platform lib for process and system monitoring in Python
  • gputil - A Python module for getting the GPU status from NVIDA GPUs using nvidia-smi programmically in Python
  • gpustat - A simple command-line utility for querying and monitoring GPU status
  • nvtop - NVIDIA GPUs htop like monitoring tool
  • spdlog - Very fast, header-only/compiled, C++ logging library
  • ctop - Top-like interface for container metrics

Operation System

  • Yocto - Produce tools and processes that enable the creation of Linux distributions for embedded software that are independent of the underlying architecture of the embedded hardware
  • Automotive Graded Linux - is a collaborative open source project that is bringing together automakers, suppliers and technology companies to build a Linux-based, open software platform for automotive applications that can serve as the de facto industry standard
  • ROSBerryPI - Installing ROS Kinetic on the Raspberry Pi
  • robot_upstart - presents a suite of scripts to assist with launching background ROS processes on Ubuntu Linux PCs
  • bitbake - is a generic task execution engine that allows shell and Python tasks to be run efficiently and in parallel while working within complex inter-task dependency constraints.
  • Jailhouse - Jailhouse is a partitioning Hypervisor based on Linux
  • Xen - is an open-source (GPL) type-1 or baremetal hypervisor
  • QEMU - is a generic and open source machine emulator and virtualizer
  • rosserial - A ROS client library for small, embedded devices, such as Arduino
  • meta-ros - OpenEmbedded Layer for ROS Applications
  • meta-balena - Run Docker containers on embedded devices
  • micro-ros - The major changes compared to "regular" ROS 2 is that micro-ROS uses a Real-Time Operating System (RTOS) instead of Linux, and DDS for eXtremely Resource Constrained Environments

Network and Middleware

  • pyshark - Python wrapper for tshark, allowing python packet parsing using wireshark dissectors

  • pingtop - Ping multiple servers and show results in a top-like terminal UI

  • termshark - A terminal UI for tshark, inspired by Wireshark

  • nethogs - It groups bandwidth by process

  • canmatrix - Converting CAN Database Formats .arxml .dbc .dbf .kcd

  • performance_test - Tool to test the performance of pub/sub based communication frameworks.

  • tcpreplay - Pcap editing and replay tools

  • iperf - A TCP, UDP, and SCTP network bandwidth measurement tool

  • can-utils - Linux-CAN / SocketCAN user space applications

  • ros_canopen - CANopen driver framework for ROS

  • decanstructor - The definitive ROS CAN analysis tool.

  • ros1_bridge - ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2

  • Fast-RTPS - protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium

  • ptpd - PTP daemon (PTPd) is an implementation the Precision Time Protocol (PTP) version 2 as defined by 'IEEE Std 1588-2008'. PTP provides precise time coordination of Ethernet LAN connected computers

  • wireless - Making info about wireless networks available to ROS.

  • wavemon - is an ncurses-based monitoring application for wireless network devices

  • protobuf - Google's data interchange format

  • CANdevStudio - CANdevStudio aims to be cost-effective replacement for CAN simulation software. It can work with variety of CAN hardware interfaces

Debugging and Tracing

  • lptrace - It lets you see in real-time what functions a Python program is running
  • pyre-check - Performant type-checking for python
  • FlameGraph - Visualize profiled code
  • gpuvis - GPU Trace Visualizer
  • sanitizer - AddressSanitizer, ThreadSanitizer, MemorySanitizer
  • cppinsights - C++ Insights - See your source code with the eyes of a compiler
  • inspect - The inspect module provides functions for learning about live objects, including modules, classes, instances, functions, and methods
  • Roslaunch Nodes in Valgrind or GDB - When debugging roscpp nodes that you are launching with roslaunch, you may wish to launch the node in a debugging program like gdb or valgrind instead.


  • RSF - Robot Security Framework (RSF) is a standardized methodology to perform security assessments in robotics.
  • gocryptfs - Encrypted overlay filesystem written in Go
  • How-to-Secure-A-Linux-Server - An evolving how-to guide for securing a Linux server.
  • lynis - Lynis - Security auditing tool for Linux, macOS, and UNIX-based systems. Assists with compliance testing (HIPAA/ISO27001/PCI DSS) and system hardening
  • OpenVPN - is an open source VPN daemon
  • WireGuard - WireGuard is a novel VPN that runs inside the Linux Kernel and utilizes state-of-the-art cryptography
  • ssh-auditor - Scans for weak ssh passwords on your network
  • vulscan - Advanced vulnerability scanning with Nmap NSE
  • nmap-vulners - NSE script based on API
  • brutespray - Automatically attempts default creds on found services.
  • fail2ban - Daemon to ban hosts that cause multiple authentication errors
  • is-website-vulnerable - Finds publicly known security vulnerabilities in a website's frontend JavaScript libraries
  • DependencyCheck - is a software composition analysis utility that detects publicly disclosed vulnerabilities in application dependencies
  • firejail - Firejail is a SUID sandbox program that reduces the risk of security breaches by restricting the running environment of untrusted applications using Linux namespaces, seccomp-bpf and Linux capabilities
  • RVD - Robot Vulnerability Database. Community-contributed archive of robot vulnerabilities and weaknesses


  • open-autonomous-safety - OAS is a fully open-source library of Voyage’s safety processes and testing procedures, designed to supplement existing safety programs at self-driving car startups across the world.
  • CarND-Functional-Safety-Project - Create functional safety documents in this Udacity project
  • Automotive Grade Linux - Automotive Grade Linux is a collaborative open source project that is bringing together automakers, suppliers and technology companies to accelerate the development and adoption of a fully open software stack for the connected car
  • safe_numerics - Replacements to standard numeric types which throw exceptions on errors


  • Linuxperf - Various Linux performance material
  • ELISA - Project is to make it easier for companies to build and certify Linux-based safety-critical applications – systems whose failure could result in loss of human life, significant property damage or environmental damage
  • PREEMPT_RT kernel patch - Aim of the PREEMPT_RT kernel patch is to minimize the amount of kernel code that is non-preemptible.


  • awesome-safety-critical - List of resources about programming practices for writing safety-critical software.
  • awesome-ros2 - A curated list of awesome Robot Operating System Version 2.0 (ROS 2) resources and libraries.
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