Lib.rs

zenoh-plugin-dds

Zenoh plugin for ROS2 and DDS in general

optimization_engine

A pure Rust framework for embedded nonconvex optimization. Ideal for robotics!

zenoh-plugin-ros2dds

Zenoh plugin for ROS 2 and DDS in general

cu29-unifiedlog

The super quick, linear, unified logging system (text + task data) used by Copper. This crate can be used independently from the Copper project.

opencv-ros-camera

Geometric models of OpenCV/ROS cameras for photogrammetry

rsruckig

Ruckig motion planning library for Rust

mavinspect

parsing MAVLink XML definitions

nyx-space

A high-fidelity space mission toolkit, with orbit propagation, estimation and some systems engineering

safe_drive

Formally Specified Rust Bindings for ROS2

rs-opw-kinematics

Inverse and forward kinematics for 6 axis robots with a parallel base and spherical wrist

minikalman

A microcontroller targeted Kalman filter implementation

roslibrust

interfacing with the ROS's rosbridge_server

rrtk_stream_builder

RRTK Stream Builder

bonsai-bt

Behavior tree

abbegm

externally guided motion for ABB industrial robots

ros_pointcloud2

Customizable conversions for working with sensor_msgs/PointCloud2

flatboat

CLI tool that integrates Docker and Kubernetes tooling into the ROS workspace workflow

dimasctl

cli for DiMAS

peng_quad

Peng is a minimal quadrotor pipeline including quadrotor dynamics, IMU simulation, various trajectory planners, PID controller and depth map rendering

ncomm

Robotics Framework

realflight-bridge

RealFlightBridge is a Rust library that interfaces with RealFlight Link, enabling external flight controllers to interact with the simulator

rosbag

reading ROS bag files

rosrust

Pure Rust implementation of a ROS client library

mech-interpreter

The Mech language runtime

beetmash-cli

CLI tools for managing Beetmash projects

qhyccd-rs

bindings for the QHYCCD SDK. This crate provides a safe interface to the QHYCCD SDK for controlling QHYCCD cameras, filter wheels and focusers. The libqhyccd-sys crate provides the raw FFI bindings…

syunit

A small library that contains some basic units to help structuring kinematics and robotic programming in rust

mavspec

A set of code generation utilities for MAVLink protocol

profirust

PROFIBUS-DP compatible communication stack in pure Rust

sophus_autodiff

automatic differentiation with optional SIMD acceleration

factrs

Factor graph optimization for robotics

nodo_inspector

Telemetry terminal UI for NODO

vexide

async/await powered Rust library for VEX V5 Brains

openrr-apps

applications using openrr

blot-cli

CLI for the Hack Club Blot

kornia-rs

Low-level computer vision library in Rust

dynamixel2

dynamixel protocol 2.0

ftswarm

swarm protocol communication library

rrtk

Rust Robotics ToolKit

can-socket

no frills CAN sockets (synchronous or async with tokio)

shared-memory-server

dora goal is to be a low latency, composable, and distributed data flow

cu-config-variation

Example of a Copper configuration with programmatic multiple variations

ament_rs

client for ament which is a system for cataloging and referencing resources distributed by software packages used by ROS2

mechutil

structures and functions for mechatronics applications

r2a

that provides a typesafe way to convert ROS 2 messages into Apache Arrow format

rustypot

Package to communicate with Dynamixel motors

forester-rs

Workflow framework based on the behavior trees

oxidebot

A lightweight yet powerful chatbot framework

re_types_blueprint

The core traits and types that power Rerun's Blueprint sub-system

riofetch

🖼️ A command-line roborio information tool written to be blazingly fast 🚀

rosidl_runtime_rs

Message generation code shared by Rust projects in ROS 2

bayes_estimate

Bayesian estimation library. Kalman filter, Informatiom, Square root, Information root, Unscented and UD filters. Numerically and dimensionally generic implementation using nalgebra…

ros2-interfaces-iron

Structs for Messages and Services listed by ROS Index for ROS2 Iron. Built around the ros2-client crate.

ros2_helpers

A wrapper around safe drive

kachaka-api

Unofficial Rust API client library for Kachaka Robot

ulog-rs

A parser for the PX4 ULog file format

s_curve

Package to generate S-Curve trajectories for robotics and similar applications

safe-vex

A modular, safe and data-orientated rust wrapper over the Purdue PROS library for Vex Robotics

gz

Gazebo client library

map_3d

3D geographic coordinate transformation

xacro

A xml preprocessor for xacro files to generate URDF files

re_int_histogram

A histogram with i64 keys and u32 counts, supporting both sparse and dense uses

xgolib

port of XGO-PythonLib

coppeliasim_zmq_remote_api

A ZMQ Client for CoppeliaSim

ros-core-rs

A pure Rust implementation of the Robot Operating System (ROS) core

libpid

that implements a PID controller

rosrust_msg

Generates Rust implementations for all messages available on the system

tello

SDK for intel DJI Tello drone using the native api

rerobots

Rust library for rerobots

mavio

Minimalistic MAVLink client that supports no-std and no-alloc targets

syact

control motors (mainly stepper motors) and components, read data from sensors and more

international_standard_atmosphere

This model was implemented using the Manual of the ICAO Standard Atmosphere - extended to 80 kilometres / 262,500 feet (Doc 7488)

sophus_tensor

Dynamic-size tensors of static-size tensors

erdos

platform for developing self-driving cars and robotics applications

mech-wasm

A web assembly wrapper for Mech core and syntax. Allows Mech to be embedded in the browser.

safe_drive_msg

A transpiler from ROS2's message types to Rust's types

kfilter

A no-std implementation of the Kalman and Extended Kalman Filter

hs-hackathon

An embedded + computer vision Rust Hackathon

roslibrust_common

Common types and traits used throughout the roslibrust ecosystem

bellande_particle

A particle system using Bellande distributions for robust state estimation and localization

rclrs

A ROS 2 client library for developing robotics applications in Rust

openrr

Open Rust Robotics framework

evian

Experimental command-based controls library for vexide

vexide-devices

High level device bindings for vexide

takumi_okamoto

my self-introduction software

communication-layer-request-reply

dora goal is to be a low latency, composable, and distributed data flow

ncomm-nodes

A collection of common Nodes for use in NComm projects

rust_nmea

NMEA (0183) parser and information library for Rust

simple_behavior_tree

behavior tree

dimas

framework for Distributed Multi Agent Systems

oxidasim

simulations

frcrs

A robotics control framework designed to streamline the development of control systems for FRC robots

ftswarm_emulator

Procedural macros for the ftswarm crate

libfranka-rs

control Franka Emika robots

libghost

library-format distribution of libghost, a multi-language PROS (VEX robotics) template

leptos-controls

Leptos Controls

grapple-frc-msgs

Grapple's repository of FRC CAN and other protocols

ik-geo

Geometric solutions to inverse kinematics, using the IK-Geo algorithm

kornia-3d

3d point cloud processing library

cu-standalone-structlog

Example of using structlog in a standalone application

r2r_common

Minimal ros2 bindings

sift_rs

Rust client library for the Sift API

rosrust_dynamic_reconfigure

dynamic_reconfigure implementation for rosrust

fast-slam

SLAM : Simultaneous Localization and Mapping. 'Fast SLAM' implemntation. Numerically and dimensionally generic implementation using nalgebra.

bcar

basic bicycle car computations

ros2-interfaces-jazzy

Structs for Messages and Services listed by ROS Index for ROS2 Jazzy. Built around the ros2-client crate.

xurdf

Parse URDF and Xacro

librobotcontrol-sys

Rust port of librobotcontrol

robojackets-robocup-rtp

Communication Messages for RoboJackets Robocup

zenoh-ros-type

Common Rust struct for ROS 2 messages used by Zenoh

svg2polylines

Convert SVG data to a list of polylines (aka polygonal chains or polygonal paths)

maviola

High-level MAVLink communication library with support for essential micro-services

tba-openapi-rust

Overview Information and statistics about FIRST Robotics Competition teams and events. # Authentication All endpoints require an Auth Key to be passed in the header X-TBA-Auth-Key…

yakf

Kalman Filter Implementation, as well as, Lie Theory (Lie group, algebra, vector) on SO(2), SO(3), SE(2) and SE(3). [no_std] is supported by default.

dynamixel2-cli

dynamixel protocol 2.0 command line utility

unbag-rs

Unbag ROS bag without ROS

beetmash_template

An example workflow for publishing Bevy apps and scenes to Beetmash

airsim-client

client library for Airsim

vex-rt

runtime for the Vex V5 built on top of PROS

botwork

single-binary, generic and open-source automation framework written in Rust for acceptance testing, acceptance test driven development (ATDD), and robotic process automation (RPA)…

robotevents

Wrapper for the RobotEvents.com v2 API

nodo

A realtime framework for robotics

onebot_v11_oxidebot

OnebotV11 Bot for oxidebot framework

robot-description-builder

A libary to create (valid) Robot descriptions

ramp-maker

Stepper Acceleration Ramp Generator

roslibrust_codegen

generating rust type definitions from ROS IDL files

geist_common

Geist common messages for running a Geist app

dora-message

dora goal is to be a low latency, composable, and distributed data flow

tf_rosrust

port of the ROS tf library. It is intended for being used in robots to help keep track of multiple coordinate frames and is part of a larger suite of rust…

vexide-startup

Support code for V5 Brain user program booting

response-time-analysis

Definitions and algorithms for response-time analysis of real-time systems

roslibrust_zenoh

A zenoh backend for roslibrust compatible with zenoh-ros1-plugin / zenoh-ros1-bridge

sophus_spline

Spline interpolation

dora-runtime

dora goal is to be a low latency, composable, and distributed data flow

isaac_sim

Rust interface for Isaac Sim

herkulex_communicator

Communicate with drs0101 and drs0201 servomotors from command line

erosbag-transform

Supplementary operations for processing ROS2 bags

e_drone

BYROBOT Drones

cache_cache

Cache for controlling and reducing IO calls

nodo_std

Standard codelets for NODO

wrenfold-traits

Runtime traits for the wrenfold symbolic code-generation library

sybot

coordinating components, defining robotic systems and their communication

kornia-icp

Iterative closest point algorithm library

telegram_bot_api_rs

Telegram Bot Api Rust Library

ev3

High level EV3 API

second_law

A binary integration test swiss army knife, compatible with Stainless

dimasmon

monitoring tool for DiMAS

robotiq-rs

interfacing Robotiq Gripper

ethercrab-wire

On-the-wire tools for the EtherCrab crate

linuxcnc-hal-sys

Generated, unsafe Rust bindings to the LinuxCNC HAL submodule

nt_client

A blazingly fast NetworkTables 4.1 client

swerve_vehicle_descriptors

describing swerve vehicles

rclrust

ROS2 client written in Rust

bellande_motion_probability

The Bellande Motion Probability algorithm calculates particle movement probabilities using Bellande distributions for enhanced motion estimation

vex-sdk

Raw bindings to vexos user jump table functions

vex-libunwind

Idiomatic Rust bindings for LLVM libunwind on VEX V5 robots

drone-nrf-map-pieces-3

Nordic Semi nRFx peripheral mappings for Drone, an Embedded Operating System

frc-value

A common value interface for rust frc apps

beet-cli

Tools for developing reactive structures

vesc-api

API for communicating with VESC motor controllers

marg-orientation

A MARG (Magnetic, Angular Rate, and Gravity) orientation estimator

cu-multisources

example for the Copper project to show more advanced topologies for the DAG

ros2-interfaces-rolling

Structs for Messages and Services listed by ROS Index for ROS2 Rolling. Built around the ros2-client crate.

onager

Featherstone rigid-body physics library built in Rust

ncomm-executors

NComm Executors

pros-simulator

Run PROS robot code without the need for real VEX V5 hardware

foxglove-ws

publish messages to Foxglove via WebSocket

tf_r2r

port of the ROS tf library. It is intended for being used in robots to help keep track of multiple coordinate frames and is part of a larger suite of rust libraries that provide support for…

visual-odometry-rs

Visual odometry in Rust (vors)

robotics

algorithms

bagmetrics

bag is an aerospace data analysis tools library

cplex_dynamic

Binding of IBM Cplex dynamic/shared library, modified based on rplex

rustros_tf

port of the ROS tf library. It is intended for being used in robots to help keep track of multiple coordinate frames and is part of a larger suite of rust…

gz-msgs

Gazebo messages

motion-planning

Motion planning primitives

franka-interface

Devlop software for Franka Emika Panda robots in simulation and run it on the real robot

mycobot

API in Rust

fusion-sys

Bindings for the IMU Fusion library

fastcurve_3d

3D and 2D fast curve generation

wpilog-rs

WPI's DataLog spec

rover-cli

A coding exercise in controlling a set of rovers on mars

fll-rs

Movement and ui apis for lego ev3 robots intended for use in the FIRST Lego League competition

rviz

3D Robot Visualizer

ur-script

UR e-series controller written in rust. Designed to be deployable on embedded systems without access to std.

arfur

A set of bindings and a framework that builds on top of the WPILib suite, enabling Rust-based robot programs in FRC

mech-utilities

Shared components and utilities for Mech

dora-download

dora goal is to be a low latency, composable, and distributed data flow

ros2-client

ROS2 client library based on RustDDS

bissel

Robotics-focused publish-subscribe/request-reply middleware for embedded Linux

mcap

reading and writing MCAP files

openrr-planner

Collision avoidance path planning for robotics

pcl

Point cloud library in Rust

ftswarm_serial

Unified serial api for the ftSwarm Rust API

ld06

Driver for the LD06 LiDAR

calpro

core models and controllers

rev-11-1105-rs

Platform-agnostic Rust definitions for the Rev Robotics REV-11-1105 Blinkin LED Driver

roslibrust_mock

Common types and traits used throughout the roslibrust ecosystem

mecha_display_ctl

mecha device display ctl

rosbag2_image_loader

Data loader for rosbag2

scurve_motion

S-Curve motion planning library

plcnext

Allows access to PLCnext Control system services

icasadi

Rust interface to CasADi functions

eskf

Navigation filter based on an Error State Kalman Filter (ESKF)

bhv

providing means to create and use Behavior Trees

nodo_nng

Remote message passing with NNG for NODO

p3p

Camera pose estimation given 3D points and corresponding pixel coordinates

maps

Inspect, compare and align multiple grid maps in an intuitive & fast GUI

rrtk_proc

Experimental RRTK math! macro

hs-hackathon-drone

Drone camera support crate for Helsing's Rust Nation hackathon

cu-monitoring

example for the Copper project to show how to implemwnt a custom monitor

imu-calib

IMU calibration library for Rust

mecha_led_ctl

mecha device led

dora-operator-api

dora goal is to be a low latency, composable, and distributed data flow

rocc

Robot Operations Command Center

re_data_ui

ui elements for Rerun component data for the Rerun Viewer

beet

Tools for developing reactive structures

openrr-config

modifying configuration files

etherage

An EtherCAT master in pure-Rust very close to the ethercat nature

mapping-algorithms

A collection of pure-rust algorithms, for spatial and SLAM purposes

boomerang_runtime

Runtime types and discrete event executor for Boomerang

mujoco-rs-sys

FFI bindings to MuJoCo

vexide-panic

Panic handler for vexide

haply

Robotics Client Library for the Inverse Service

r2r_rcl

Internal dependency to the r2r crate

libpdraw-sys

Rust wrappers over Parrot's libpdraw library

mission-creator

Graphically create missions for Snowbotics Framework

sophus_viewer

Basic 2D / 3D visualization, e.g. for computer vision applications

arci

Abstract Robot Control Interface

pros-simulator-interface

Connect your app to the pros-simulator crate

ncomm-publishers-and-subscribers

NComm Publishers and Subscribers

forester-webots

Integration Forester and WeBots

lqr

A generic LQR feedback controller

sbus

parser for the S.Bus RC protocol

camera-intrinsic-calibration

Camera Intrinsic Calibration

ros_message

handling MSG and SRV files in ROS

butterworth

filters

pid-lite

A small PID controller library

bevy_impulse

Reactive programming and workflow execution for bevy

motion-planning-cli

A CLI for interacting with motion planning primitives

ros2_message

handling MSG and SRV files in ROS2

mulberry

Coordinate transformation tree with a focus on efficiency

tfl

pni-sdk

convenient, low-level bindings to several PNI-manufactured sensors, including compass and some AHRS sensors that support the PNI Serial Binary Protocol

ethercrab

An EtherCAT master in pure Rust that is no_std compatible

mav-sdk

API (gRPC) for managing one or more vehicles, providing programmatic access to vehicle information and telemetry, and control over missions, movement and other operations

ros_package_manifest

parses ROS package manifest (also known as package.xml)

mecha_device_oem_info

mecha device matrics

gsdtool

CLI utility for PROFIBUS GSD files (Generic Station Descripions)

sqpnp_simple

SQPnp camera pose estimation

nodo_cask

Message recording to MCPA for NODO

mcap-rs

reading and writing Foxglove MCAP files

dora-operator-api-c

C API implementation for Dora Operator

linux_max6675

that reads temperature data from a MAX6675 over the Linux kernel's SPI API

gen_gcode

A functional G-Code generator

rustdds

Native Rust DDS implementation with RTPS

meadow

Robotics-focused middleware for embedded Linux

motor_toolbox_rs

Motor Toolbox for Rust

data-pipeline

A functional and extensible library for organized lazy processing of data with minimal overhead

dimas-com

communication library for DiMAS

cartesian_trajectories

create cartesian motion profiles

dji-log-parser

parsing DJI txt logs

arci-gamepad-keyboard

arci::Gamepad implementation for keyboard

mavlink-dialects

A set of code generation utilities for MAVLink protocol

async-mavlink

An async adapter for mavlink conections

blackbox-log

Ergonomic parser for BetaFlight blackbox logs

mech-core

The Mech language runtime

c3dio

reading and writing C3D motion capture files

gz-transport-sys

A low-level Rust wrapper for the Gazebo Transport

ncomm-clients-and-servers

NComm Clients and Servers

dora-node-api

dora goal is to be a low latency, composable, and distributed data flow

vex-libunwind-sys

FFI bindings to LLVM libunwind for VEX V5 robots

roslibrust_rosbridge

Common types and traits used throughout the roslibrust ecosystem

vexide-graphics

Graphics driver implementations for vexide

beet_router_parser

Tools for developing reactive structures

mavlink-message-definitions

MAVLink message definitions in MAVInspect format

ncomm-update-clients-and-servers

NComm Update Clients and Servers

optima

An easy to set up and easy optimization and planning toolbox, particularly for robotics

rclrust-msg

ROS2 message, service, action types

distributed_control

Create, analyze and simulate multi-agent, distributed control systems

do-not-use-testing-rclrs

A ROS 2 client library for developing robotics applications in Rust

dimas-config

configuration library for DiMAS

rpcl2-derive

Derive macros for ros_pointcloud2 crate

cu-hesai

Copper driver for Hesai X32. Note: the actual parsing is usable outside of Copper if you need a Hesai X32 driver for another project.

sophus_sim

Basic camera simulation

cu29

Copper Runtime prelude crate. Copper is a Rust engine for robotics.

nodo_runtime

Runtime for NODO applications

mech-server

server and client for hosting Mech programs on a websocket

factrs-proc

Proc-macros for factrs

gcv_spline

fitting and evaluating GCV splines

camera-intrinsic-model

Camera Intrinsic Models

icasadi_test

Rust interface to CasADi functions (for testing purposes only)

arci-urdf-viz

arci implementation using urdf-viz

beet_rsx

Tools for developing reactive structures

arci-ros2

arci implementation using ROS2

cu29-intern-strs

loader for the intern strings logged at build time by Copper. It can be used independently from the copper project.

dora-node-api-c

dora goal is to be a low latency, composable, and distributed data flow

ttytee

A process that exposes 2 copies of the same TTY

dimas-time

time library for DiMAS

openrr-teleop

openrr teleoperation library

sophus_geo

geometric primitives: rays, hyper-planes, hyper-spheres, axis-aligned bounding boxes

mavspec_rust_spec

Core interfaces for MAVSpec's Rust code generation toolchain

cu-rp-balancebot

full robot example for the Copper project. It runs on the Raspberry Pi with the balance bot hat to balance a rod.

gsd-parser

Parser for PROFIBUS GSD files (Generic Station Description)

beetmash

The number one bevy scene registry

mavspec_rust_gen

Rust code generation module for MAVSpec

ftswarm_proto

Protocol definitions for the ftswarm serial communication protocol

veranda

A rand RNG source for vexide

cu29-traits

Common systems and robotics traits designed to decouple the components of your robotic system. These can be used independently from the Copper project.

beetmash_scene

The number one bevy scene registry

ncomm-utils

NComm Common Utilities Crate

dora-arrow-convert

dora goal is to be a low latency, composable, and distributed data flow

communication-layer-pub-sub

dora goal is to be a low latency, composable, and distributed data flow

openrr-plugin

Plugin support for arci

dimas-commands

commands library for DiMAS

beet_sim

Simulated environments in which behaviors can be run

mech-syntax

A toolchain for compiling textual syntax into Mech blocks

openrr-client

openrr useful client libraries

cu-consolemon

A monitoring TUI for Copper. See the main Copper repository for more information.

gamai

Modular task switching library suitable for Game AI and Robotics

vexide-async

The async executor at the core of vexide

vexide-core

Core functionality for vexide

ftswarm_macros

Procedural macros for the ftswarm crate

bevyhub_template

An example workflow for publishing Bevy apps and scenes to Bevyhub

arci-ros

arci implementation using ROS1

cu29-clock

Copper Robot Clock implementation. It is a monotonic high precision clock for real time applications. It has a mock feature for testing time dependent behaviors. It is part of the Copper…

arci-speak-audio

arci::Speaker implementation for playing audio files

dora-cli

dora goal is to be a low latency, composable, and distributed data flow

dora-daemon

dora goal is to be a low latency, composable, and distributed data flow

beet_router

Tools for developing reactive structures

mavspec_rust_derive

Procedural macros for MAVSpec's Rust code generation toolchain

cu-sensor-payloads

Those are standardized payloads for the Copper sensors. Feel free to contribute your own.

ncomm-core

NComm Common Traits Crate

arci-speak-cmd

arci::Speaker implementation using local command

dora-metrics

dora goal is to be a low latency, composable, and distributed data flow

cu29-log

part of the text logging runtime for Copper. It cannot be used independently from the copper project.

dimas-core

core library for DiMAS

cu-config-gen

example for the Copper project to show how to programmatically generate a config

dora-operator-api-python

dora goal is to be a low latency, composable, and distributed data flow

bevyhub

The number one bevy scene registry

beetmash_net

A lightweight Bevy replication library

arci-gamepad-gilrs

arci::Gamepad implementation using gilrs

cu29-runtime

Copper Runtime Runtime crate. Copper is an engine for robotics.

openrr-gui

openrr GUI library

beet_examples

A very flexible AI behavior library for games and robotics

openrr-command

openrr command line tool library

cu-rp-sn754410-new

controlling the SN754410 motor driver on the Raspberry Pi for Copper

dora-operator-api-types

dora goal is to be a low latency, composable, and distributed data flow

cu-ads7883-new

driver for the TI ADS7883 for Copper

beet_ml

Machine Learning actions built upon beet_flow

vexide-math

Commonly used mathematical formulas for vexide