A LiDAR odometry pipeline that just works

dddmr_navigation is the 3D navigation solution for mobile robots includes mapping/localization/perception/path planning/controller/move base

ROS2 Port for traversability mapping for mobile rough terrain navigation.

Universal grid map library for mobile robotic mapping

A toolbox for Unitree Go2 in SLAM and navigation (maybe more later)

Probabilistic Kernel Optimization for Robust State Estimation

[RSS'25] This repository is the implementation of "NaVILA: Legged Robot Vision-Language-Action Model for Navigation"

Paper Survey for SLAM in Legged Robot

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

[ROS2 + Unitree L1] Robust Real-time LiDAR-inertial Initialization Method.

This repo is modified based on LIO_SAM, which remove the feature extraction module and makes it easier to adapt your sensor.

LiDAR-inertial SLAM: Scan Context + LIO-SAM

A nice framework with Fast-LIO2 as Frontend and a specific SLAM which applying scan_context++ as loop detection as Backend, collaborating a graph optimization algorithm.

This ROS2 package integrates data from a 360-degree lidar and a camera to achieve enhanced object tracking through sensor fusion.

Monocular Depth Estimation for CrazyFlie UAV with ROS2

Robotic Mapping and Localization Course

A Fleet of Unitree GOs (GO1 and GO2) capable of Heterogeneous Collaborative Exploration.

Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

ROS package for D*+ 2D and 3D path planner, using cartographer and octomap as maps respectively.

UMich 500-Level Mobile Robotics Course

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI, M-LOAM, LOCUS, SLICT, MA-LIO, CT-ICP, GenZ-IC…

3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not SLAM)

Collection of Papers with Codes: LiDAR Odometry/SLAM, Dynamic Object Removal, and Multiple Map Merging

Multi robot navigation with Ignition Gazebo and Turtlebot4

This repository contains a full wrapper class for running ORB-SLAM3 on a docker container with ROS2 Humble with Ubuntu 22.04.

ROS 2 Humble simulation package for Boston Dynamics Spot using Gazebo and champ quadruped controller.

package:go2_description

cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control

This is a port of examples from micro_ros_arduino to platformio.

ESP32 based differential drive mobile robot with MicroROS interface for Wifi controlling