Steve Macenski

protective-stop. Instructions and source files for protective stop 🛡️ 🛑

opennav_amd_semantic_navigation. SAM3 Running on Edge AMD Strix Halo for Contextual Navigation with Nav2

opennav_robotics_workload_benchmark. A standardized benchmark for robotics workloads on various compute platforms

ConSLAM. ConSLAM: Construction Dataset for SLAM

localization_and_mapping. Localization and mapping system in ROS2, C++

ellipselio. EllipseLIO is an Adaptive LiDAR Inertial Odometry Approach with an Ellipsoid Representation

genz-icp. GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025)

sam3-tracker-rocm. Utilize SAM3 model on AMD APU

proton. Proton communication protocol

bxi_rl_controller_ros2_example. sample of a unified controller used for both simulation and hardware

holosoma. Python

voxelnav. Real-time semantic voxel mapping for ROS2 robots - 100ms latency on Jetson Nano

MASt3R-SLAM. [CVPR 2025] MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors

semantic_slam. A semantic slam based approach with base as dense voxel layer

lingbot-map. A feed-forward 3D foundation model for reconstructing scenes from streaming data

MobileSAM. This is the official code for MobileSAM project that makes SAM lightweight for mobile applications and beyond!

taskflow. A General-purpose Task-parallel Programming System in C++

capt. Rust implementation of the Collision-Affording Point Tree (CAPT) for high-performance pointcloud collision checking

vamp. SIMD-Accelerated Sampling-based Motion Planning

ros2_native_adapters. ROS 2 Type adapters for common C++ frameworks

nav2_ground_consistency_costmap_plugin. Evidence-based costmap layer using ground and non-ground points to estimate occupancy with temporal decay and height-based filtering.

ground_segmentation_ros2. ROS2 wrapper for the ground_segmentation library

NAV2Tutorial. C++

YOLO. An MIT License of YOLOv9, YOLOv7, YOLO-RD

super-gradients. Easily train or fine-tune SOTA computer vision models with one open source training library. The home of Yolo-NAS.

ground_segmentation. A C++ library for ground segmentation of a pointcloud

steering_functions. C++

simple_segmentation_toolkit. A simple toolkit for training semantic segmentation models from autolableled data

autoware_universe. C++

MPPI-Generic. Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)

ros2-depth-anything-v3-trt. ROS2 TensorRT Node for Monocular Metric Depth estimation and Point Cloud generation from camera images with Depth Anything V3

nav2_segmentation_demo. Demo ROS2 workspace for using nav2 with semantic segmentation on Gazebo

roboto_origin. Roboto_origin Fully Open-Source DIY Humanoid Robot/萝博头原型机全开源手搓级人形机器人

semantic_segmentation_layer. Nav2 costmap layer for semantic segmentation

cuVSLAM. cuVSLAM: CUDA-Accelerated Visual Odometry and Mapping

path_tracking_pid. Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

BBoxMaskPose. [ICCV 25] The official repository of paper 'Detection, Pose Estimation and Segmentation for Multiple Bodies: Closing the Virtuous Circle'

pacman-contribution-graph. 👻🧱🚀 Turn your GitHub contribution graph into an arcade game SVG animation! Easy to integrate into your profile with GitHub Actions 🚀.

nav2-virtual-layer. A Nav2 costmap plugin for ROS 2 that creates dynamic virtual obstacles and cost zones using circles, lines and polygons.

fastplotlib. Next-gen fast plotting library running on WGPU using the pygfx rendering engine

rovio. One stop shop for ROVIO development, research and use. Carried forward from ethz/rovio.

tf_tree_terminal. A lightweight ROS 2 utility to visualize the Coordinate Transform (TF) tree directly in the terminal with a folder-style structure.

opennav_epic_shelter. Scripts for backing up key repos in case of catastrophic disaster

opennav_visual_navigation. Vision-Only Navigation Demonstrations Using Nav2 and NVIDIA Isaac SDK

DWARL. DWARL is a comprehensive package designed for creating controller policies through simulation-based learning.

sam3. The repository provides code for running inference and finetuning with the Meta Segment Anything Model 3 (SAM 3), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.

nullspace_mpc. Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

mppi_swerve_drive_ros. [IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

astratag. Fiducial Marker for Spacecraft RPOD

Depth-Anything-3. Depth Anything 3

vio_ros_wrapper. C++

proxsuite. The Advanced Proximal Optimization Toolbox

lidar_odometry_ros_wrapper. LiDAR Odometry ROS2 Wrapper

nav2_mcp_server. MCP server that provides tools and resources to control and monitor robots using Nav2.

semantic_mapping. Library for simple semantic mapping

newton. An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

Voxel-R-CNN. Python

lidar_odometry. Fast LiDAR SLAM

ros-mcp-server. Connect AI models like Claude & GPT with robots using MCP and ROS.

ros2top. Python

NavMap. C++

roscon-uk-2025-se-workshop. Materials needed for the ROSCon UK 2025 State Estimation Workshop

depth_anything_v2_ros2. ROS2 Wrapper for DepthAnything V2 model.

dinov3_ros. ROS 2 integration of Meta’s DINOv3 backbone with lightweight heads for vision tasks.

easynav_plugins. C++

go2_ros2_sdk. Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU

Depth-Anything-V2. [NeurIPS 2024] Depth Anything V2. A More Capable Foundation Model for Monocular Depth Estimation

claude-code-workflows. The best workflows and configurations I've developed, having heavily used Claude Code since the day of it's release. Workflows are based off applied learnings from our AI-native startup.

namosim. A mobile-robot navigation planner for navigating among movable obstacles

viser. Web-based 3D visualization in Python

crisp_controllers. CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

open-lovable. 🔥 Clone and recreate any website as a modern React app in seconds

mcl. A generic adaptive particle filter localization implementation

ollama. Get up and running with Kimi-K2.6, GLM-5.2, MiniMax, DeepSeek, gpt-oss, Qwen, Gemma and other models.

fast_lio_nav2_humanoid. C++

cob_common. The cob_common stack hosts common packages that are used within the Care-O-bot repository. E.g. utility packages or common message and service definitions etc. Also the urdf desciption of the robot is located in this stack.

agents. Multi-harness agentic plugin marketplace for Claude Code, Codex CLI, Cursor, OpenCode, GitHub Copilot, and Gemini CLI

rclcppyy. rclcppyy, using cppyy to call C++ ROS2 code without writing bindings

openarm. A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.

supervision. We write your reusable computer vision tools. 💜

Map_Enhancer_Wizard. Enhance your occupancy grid maps and make them super awesome.

Rolling-Bonxai. A rolling voxel grid implementation of Bonxai to handle large maps in ROS 2

ORBSLAM3-grid-mapper. This repository is a modified version of ORBSLAM3 by UZ-SLAMLab. This repo contains a converter that creates an occupancy grid from the sparse map points.

SuperOdom. A highly robust and accurate LiDAR-only, LiDAR-inertial odometry

thundersvm. ThunderSVM: A Fast SVM Library on GPUs and CPUs

zinger_swerve_controller. The swerve controller code for the zinger robot

physical_ai_tools. ROBOTIS Physical AI Tools: Physical AI Development Interface with LeRobot and ROS 2

hiroz. Rust

PartPacker. Efficient Part-level 3D Object Generation via Dual Volume Packing

FAST_LIO_ROS2. ROS2 version of FAST_LIO2. Welcome to the technical communication discord server discord: https://discord.gg/U3B65MGH8m

patchwork_cuda. CUDA implementation of Patchwork Ground Segmentation Filter

plain_slam_ros2. Lightweight LiDAR-Inertial SLAM system for ROS 2. A minimal, dependency-free implementation for research and education.

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

rpg_svo_pro_open. C++

cloudini. Pointcloud compression library

lqrax. GPU-friendly, auto-differentiable LQR solver with JAX.

Clipper2. Polygon Clipping, Offsetting & Triangulation in C++, C# and Delphi

SWAGGER. SWAGGER: Sparse WAypoint Graph Generation for Efficient Routing

ugv_nav4d. A 4D (X,Y,Z, Theta) Planner for Unmanned Ground Vehicles

Ogm2Pgbm. Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments

Vestaboard. An API Wrapper for Vestaboards written in Python

Vestaboard-Reverse-Engineering.

DynamicBoard. A free to use vestaboard server for your local network.

traversability_mapping. This repository contains the packages responsible for performing global traversability mapping which can be very easily integrated with any SLAM system.

frenet_ilqr_controller. Nav2 controller plugin utilizing Frenet Frames and ILQR

ConflictBasedSearch. Multi robot path planning

ai-engineering-hub. In-depth tutorials on LLMs, RAGs and real-world AI agent applications.

kinova_isaaclab_sim2real. Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

vda5050_lif_editor. VDA5050 LIF Editor (layout interchange format editor)

OpenLiDARMap. Zero-Drift Point Cloud Mapping using Map Priors

smooth. Lie theory for robotics

als_ros. An advanced localization system for ROS use.

laser_segmentation. Implementation of differents algorithms for segmentation of laserscans, splitting them into subsets of beams, with a ROS2 interface.

rse_prob_robotics. ROS 2 implementation of robotics algorithms based on the Probabilistic Robotics book

rtabmap_ros. RTAB-Map's ROS package.

DRL-robot-navigation. Deep Reinforcement Learning for mobile robot navigation in ROS Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.

easy_perception_deployment. A ROS2 package that accelerates the training and deployment of CV models for industries.

ros2_cookbook. Code snippets for ROS2

imu_lidar_calibration. Target-free Extrinsic Calibration of a 3D Lidar and an IMU

ekf_cal. Extended Kalman Filter-Based Calibration and Localization

cosmos. NVIDIA Cosmos is an open platform of world models, datasets, and tools that enables developers to build Physical AI for robots, autonomous vehicles, smart infrastructure, and more.

ros2_camera_lidar_fusion. ROS2 Package to calculate the intrinsic and extrinsic camera calibration. Adding an easy way to fuse camera and lidars

connected_graph_from_2d_map. This package automatically detects waypoints and converts your 2D map into a connectivity graph, that you can edit in real time using interactive markers in rviz, the output is saved in yaml. Generally, if there is a direct road or path between two waypoints in the image of the map then an edge is formed.

path_planning_with_quad_trees. This repository converts 2D occupancy grid into a quad tree and implements planning algorithms for mobile robots using quad tree. Planning works much faster on these because each square represents an area with free space and these neighbouring squares are already connected in a graph. This allows for planning paths in large maps.

pi_at_home. 2025 - This is my deployment environment for real world AI robot policies, and a place to create training data for reinforcement learning and imitation learning.

ros2_cmv. ROS 2 Custom Message Visualizer (CMV) is a package that can be used to generate rviz plugins for your custom messages.

ndt_2d. 2D NDT Mapping and Localization

genesis-world. Simulation platform for general-purpose robotics & embodied AI learning.

roman_ros. ROS1/2 wrapper for ROMAN, a view-invariant global localization method

slam-handbook-public-release. Release repo for our SLAM Handbook

navigation2-extensions. Cooperative-Driving Automation (CDA) plugins for the Navigation2 framework

multiple_object_tracking. C++

nav2_pyif. C++

mapf. Multi-agent (path finding) planning framework

kinematic-icp. A LiDAR odometry pipeline for wheeled mobile robots

rerun. Visualize, query, and stream to train on multimodal robotics data.

dynamic-occupancy-grid-map. Implementation of "A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application"

robot-utility-models. Robot Utility Models are trained on a diverse set of environments and objects, and then can be deployed in novel environments with novel objects without any further data or training.

glim. GLIM: versatile and extensible point cloud-based 3D localization and mapping framework

PointPillars. A Simple PointPillars PyTorch Implementation for 3D LiDAR(KITTI) Detection.

lerobot. 🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

nav2_docker. Nav2 distributed docker containers for active ROS 2 distributions for development and deployment

filament. Filament is a real-time physically based rendering engine for Android, iOS, Windows, Linux, macOS, and WebGL2

opennav_amd_demonstrations. Project containing demonstrations using AMD's Ryzen AI and other technologies with ROS 2

mpl_ros. A ROS wrapper for trajectory planning based on motion primitives

Graph-Based_SLAM-Aware_Exploration. [IEEE RA-L 2024]: Graph-based SLAM-Aware Exploration with Prior Topo-Metric Information.

patchwork-plusplus. Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

radar_layer. Plugin for Nav2 Costmap 2d to convert radar messages into obstacles on a costmap

yag-slam. Python based Graph SLAM (and more) built using Karto's scan matcher

go2_robot. CMake

small_gicp. Efficient and parallel algorithms for point cloud registration [C++, Python]

fatrop. Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.

beluga. A general implementation of Monte Carlo Localization (MCL) algorithms written in C++17, and a ROS package that can be used in ROS 1 and ROS 2.

cloisim. Unity3D based multi-robot simulator can bring-up simulation environment by SDFormat (Simulation Description Format) easily. And it supports to connect ROS2 through cloisim_ros.

dashy. 🚀 A self-hostable personal dashboard built for you. Includes status-checking, widgets, themes, icon packs, a UI editor and tons more!

nav2_minimal_turtlebot_simulation. A minimum description & simulation of the TB4 using standard ROS-GZ tools

ars-408. Continental ARS 408 Driver for ROS2

opennav_docking. Nav2 Compatible Docking Task Server & BT Utils

star-history. The de facto GitHub star history graph.

flyappy_autonomy_test_public. Flyability Autonomy Test Game

software_watchdogs. A library of (software) watchdogs based on DDS Quality of Service (QoS) policies and ROS 2 lifecycle nodes.

llmware. Unified framework for building enterprise RAG pipelines with small, specialized models

unsloth. Unsloth is a local UI for training and running Kimi K3, Gemma 4, Qwen3.6, DeepSeek, GLM and other models.

giskard-oss. 🐢 Open-Source Evaluation & Testing library for LLM Agents

web-check. 🕵️‍♂️ All-in-one OSINT tool for analysing any website

DetectionCostmaps. Creates an interface for integrating machine learning models into costmap generation

nav2.org. https://nav2.org

nvidia-isaac-summary. An unofficial summary of NVIDIA Isaac.

nav2-keepout-zone-map-creator. nav2-keepout-zone-map-creator is a tool that allows you to create a Keepout Zone map from an Occupancy Grid Map and 3D point cloud.

groundgrid. Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"

FoundationPose. [CVPR 2024 Highlight] FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

f110-mpc. model predictive control in f1tenth simulator

ros_motion_planning. Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

param_configuration. The tools to make ROS 2 parameter configuration easier

lidar_situational_graphs. Repository to generate in real-time Situational Graphs (S-Graphs) for robot pose and map optimization using 3D LiDAR Data

skrl. Modular Reinforcement Learning (RL) library (implemented in PyTorch, JAX, and NVIDIA Warp) with support for Gymnasium/Gym, NVIDIA Isaac Lab, MuJoCo Playground and other environments

OmniIsaacGymEnvs-DofbotReacher. Dofbot Reacher Reinforcement Learning Sim2Real Environment for Omniverse Isaac Gym/Sim

IsaacLab. Unified framework for robot learning built on NVIDIA Isaac Sim

OmniIsaacGymEnvs. Reinforcement Learning Environments for Omniverse Isaac Gym

MapClosures. Effectively Detecting Loop Closures using Point Cloud Density Maps

gym-multigrid. Lightweight multi-agent gridworld Gym environment

task_manager. Task Manager ROS 2 package is a solution to start, handle and track tasks from different sources in a centralized way on a single robot

ros2-lifecycle-monitoring. C++

CoVO-MPC. Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an optimal sampling-based MPC algorithm.

mcap_editor. MCAP editor (GUI)

bundle_adjustment.github.io. C++

point_cloud_transport. Point Cloud Compression for ROS

robomagellan. Stuff/Garbage for RoboMagellan

mesh_navigation. The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain

ndt_localizer. A simple, clean NDT licalization ROS package.

mono_color_segmentation. Simple ROS2 node for creating segmentation masks based on pixel colors

opennav_coverage. Nav2 Compatible Complete Cover Task Server, Navigator, & BT Utils

FAST_LIO_LOCALIZATION. A simple localization framework that can re-localize in built maps based on FAST-LIO.

grid_map_geo. Geolocalization for grid map using GDAL.

terrain-navigation. Implementation for safe low altitude navigation in steep terrain for fixed-wing Aerial Vehicles

wavemap. Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

eagleye. Precise localization based on GNSS and IMU.

ddg_multi_robot_planner. C++

gaussian-splatting. Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

mbplanner_ros. Motion-primitives Based Planner for Fast & Agile Exploration