Advances in Open-source Robotics Tools

RSJ International Session

Quick Reminders

paper deadline is July 22, 2011

YouTube Channel

Email Organizers at:

Open-Source Tools

Here is a short list of popular open-source robotics tools:


OpenRTM-aist is a software platform to develop the robotic system in component-oriented. In OpenRTM-aist, the robot system system can be constructed by making the program of each functional element (This is called RT-Component:RTC), and connecting those RT-Components. The RT component can develop in C++, Python, and Java language, and supports main OS(Linux/Unix, Windows, Mac OS X).Eclipse tools and the tool of the command line can be used for the component development and the system development using the component.


ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. It also provides tools and libraries for obtaining, building, writing, and running code across multiple computers.


OpenCV (Open Source Computer Vision) is a library of programming functions for real time computer vision. It is released under a BSD license, it is free for both academic and commercial use. It has C++, C, Python and soon Java interfaces running on Windows, Linux, Android and Mac. The library has >2500 optimized algorithms (see figure below). It is used around the world, has >2.5M downloads and >40K people in the user group. Uses range from interactive art, to mine inspection, stitching maps on the web on through advanced robotics.


The Point Cloud Library (or PCL) is a large scale, open project for point cloud processing. The PCL framework contains numerous state-of-the art algorithms including filtering, feature estimation, surface reconstruction, registration, model fitting and segmentation. These algorithms can be used, for example, to filter outliers from noisy data, stitch 3D point clouds together, segment relevant parts of a scene, extract keypoints and compute descriptors to recognize objects in the world based on their geometric appearance, and create surfaces from point clouds and visualize them – to name a few.


OpenRAVE (Open Robotics Automation Virtual Environment) provides an environment for testing, developing, and deploying motion planning algorithms in real-world robotics applications. The main focus is on simulation and analysis of kinematic and geometric information related to motion planning. OpenRAVE’s stand-alone nature allows is to be easily integrated into existing robotics systems.


HARK is open-sourced robot audition software consisting of sound source localization modules, sound source separation modules and automatic speech recognition modules of separated speech signals that works on any robot with any microphone configuration.