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Open Robotics

Open source robotics and a whole lot more!

Open-RMFgazeboignitionrosc++pythonBevy
Organization website

Participation history

10 GSoC years

2026202520242023202220212020201920182016

2026

8 projects

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Client Library System Performance Monitoring Enhancements

The ROS 2 ecosystem has made significant leaps in performance over the last few years, supported by benchmarking tools like buildfarm_perf_tests and...

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Scalable Multi-Robot Integration and Automated Bridging for ROS 2 and Gazebo

This project aims to improve the integration between ROS 2 and Gazebo by addressing two key challenges: manual bridge configuration and limited...

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Add Support for Mixin Composition in Colcon Mixin

I am C Innocent Pious, a final-year B.Tech Computer Science student from Chennai with hands-on experience in the colcon mixin codebase. Prior to this...

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QA of Reset of Core Systems

Self Introduction: My name is Yimo Wang.I am a Master’s candidate in Software Engineering at Dalian University of Technology, expected to graduate in...

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Mission Control for ros2_control

The project solves a common problem in robotics systems: ros2_control already gives teams strong building blocks for hardware and controller control,...

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Vendor Agnostic SONAR Implementation

This project develops a vendor-agnostic GPU-accelerated SONAR simulation plugin for Gazebo by migrating the current CUDA-centric approach to a...

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Physical AI Inference & Trajectory Upscaling for ros2_control

AI policies (VLAs, Diffusion Policy) output joint targets at 20–50 Hz, while robot hardware requires continuous commands at 500–2000 Hz. Naively...

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UI/UX improvements to the Crossflow Diagram Editor

The Crossflow Diagram Editor is a workflow authoring tool, but today some core interactions around building and validating workflows can be improved...

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2025

9 projects

Official year page

Improvements to ROS 2 Tracing

This project enhances ros2_tracing by addressing its key limitation: recording trace data previously had to be started before application launch to...

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Physics-based sonar simulation and new examples with commonly used hardware for underwater robotics

The multibeam sonar is a ray-based plugin designed to simulate the physics of acoustic signal propagation, including phase and reverberation effects....

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C/C++ Struct to ROS Message Converter

This project aims to create a ROS2 package that automatically converts C/C++ structs into ROS2 messages and generates the corresponding TypeAdapters....

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Modernization and Improvements of VCSTool

Vcstool is a meta version control tool that simplifies working with multiple repositories and is commonly used in ROS and Gazebo environments. It is...

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Improvements to ROS 2 Doctor

Prerequisites: Ubuntu and ROS 2 development environment, no need for specialized hardware. Necessary programming skills: Familiarity with...

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Multi-Agent Traffic Optimization

This project aims to enhance the multi-agent traffic debugging tool in Open-RMF's site editor for stress testing the multi-agent path finding (MAPF)...

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Multi-Agent Traffic Optimization + Infrastructure improvements.

I am Ryan, a college student finishing their last semester for a bachelors in computer science. My contribution to the multi-agent traffic...

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Ray tracing enabled Faster-Than-Real-Time GPU based LiDAR plugin for Gazebo

LiDAR (Light Detection and Ranging) plays a key role in autonomous navigation and 3D perception. To test and train LiDAR equipped systems...

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Hardware Diagnostics Support for ros2_control

The ros2_control framework uses a plugin-based system to support multiple hardware drivers at the same time. It takes care of resource constraints...

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2024

5 projects

Official year page

Physics-based Sonar Simulation for Underwater Robotics

In any area of autonomous robotics, a simulation environment that captures a real scenario as accurately and efficiently as possible is essential for...

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Benchmarking Physics Engines

A wide variety of robotics applications strongly rely on simulator performance. While many open-source simulators/physics engines are available, each...

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Physics-based Sonar Simulation for Underwater Robotics

The project aims to migrate and improve a physics-based multi-beam sonar simulation, adapting it to ROS 2 and Gazebo environments. Key aspects...

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Gazebo Effortless Installations

Implement a variety of new mechanisms to use a pre-installed Gazebo which helps users and developers to enjoy a simple experience of running the...

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Physics-based Sonar Simulation for Underwater Robotics

The objective of the "Physics-based Sonar Simulation for Underwater Robotics" project is twofold: firstly, to transition to ROS2 and integrate with...

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2023

3 projects

Official year page

Dynamic wrench application through the GUI

Currently in Gazebo, it is complicated for the user to exert external forces and torques to objects during the simulation. In this project, I will...

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Automatically Compute Moments of Inertia for SDFormat Links

Physically plausible inertial parameters like the mass, center of mass, moments of inertia etc. are required for an accurate simulation. Since...

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Improve maritime support in Gazebo

The goal of this project is to extend the simulation capabilities of Gazebo in the maritime domain. Some examples of potential ideas are wave...

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2022

2 projects

Official year page

Improving Gazebo’s Mesh Format Support

The project aims to extend Gazebo’s mesh loading support by either (A) Using an external open-source library or (B) Writing glTF2 and FBX mesh...

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Tools for creating new ignition projects

Setting up a new ignition gazebo project currently is a non-trivial task with a lot of boilerplate and CMake involved. The project aims to solve it...

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2021

2 projects

Official year page

New GUI widgets in Ignition Gazebo

Ignition Gazebo is the next generation of the Gazebo robotics simulator. This project involves porting a list of GUI widgets from Gazebo classic to...

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Machine Learning Extension to Ignition Gazebo

The project is about providing Ignition Gazebo with features of datasets generation to improve deep learning models training by implementing varies...

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2020

7 projects

Official year page

Ignition Gazebo Optical Tactile Sensor Plugin

Tactile sensors allow you to sense physical interactions with the environment. This GSoC project aimed to implement the first step in the simulation...

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Ignition Plotting Tool

This project is about providing the simulation plotting system in ignition to plot ignition-transport messages and ignition gazebo's components...

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Gazebo submarines

Simulate underwater robotics with end effectors to manipulate the environment

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RVIZ based on Ignition Rendering Library

RViz has undeniably been a key component of every ROS developer during the development of their robot’s software stack. With the recent development...

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Demos for ignition knowledge base

this is my initial proposal introducing myself, ideas and timeline of the project. looking forward to hearing your reply

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Proposal for joining Robotics Middleware Framework running scenarios Project

I am proposing to be part of the Robotics Middleware Framework running scenarios project. I am interested in multi-robot management because it is...

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Sensor data visualization

The rendering component of Gazebo has been moved to its own library, Ignition Rendering, and is now part of the Ignition Robotics project. The works...

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2019

7 projects

Official year page

Gazebo Robotics Simulator Visual Plugin and Sensor Data Visualization

This project focuses on improving Open Robotic's simulators through creating a Gazebo Visual Plugin and Sensor Data Visualization. This will involve...

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Migrating Gazebo plugins to ROS2

Gazebo ROS packages (gazebo_ros_pkgs) provides a ROS interface to Gazebo simulations for developers to test their ROS code in a virtual simulation...

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Improved Collision Checking for MoveIt

MoveIt currently only implements discrete collision checking for movements of the controlled robot. A major drawback of discrete collision checking...

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Actor support on Ignition

This project is about migrating skeleton animation, i.e. actors, so they can be loaded into Ignition Gazebo. The work will involve making sure that...

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Gazebo documentation index

The Gazebo project has a vast set of learning resources in the form of a documentation section, Gazebo tutorials, the QA website, ROS answers and...

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Building a Gazebo overlay for RobotX simulator

The Virtual RobotX (VRX) competition is an international, university-level competition aimed at developing a vehicle in a Gazebo-based simulation...

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Support creating Windows packages for ROS2 in Bloom

Bloom is the release creation tool for the ROS ecosystem. From a standard package manifest format bloom can generate debian or rpm metadata for...

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2018

4 projects

Official year page

Perception Pipeline Improvements

MoveIt! allows for seamless integration of motion planning functionality and perception is a very important part of it. It supports using Octomap...

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ROS Package for Robot Work Cell Discovery

This proposal aims to create a ROS package which will allow any arbitrary robotic manipulator to intelligently explore and map it’s work cell...

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Upgrade and Improve MoveIt! Setup Assistant integration with Gazebo

This project main objective is to upgrade the MoveIt! Setup Assistant to automatically configure an arbitrary URDF robot to work with ROS Control and...

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Adding more motion planning libraries to MoveIt

MoveIt was designed to be highly plugin-based and originally supported 3 planning libraries. Today that number has shrunk to 1. There are many good...

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2016

7 projects

Official year page

Extend communication outside the LAN

Right now, all the messages sent and received stayed on the same LAN. The goal of the project is to extend this functionality and allow other...

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Visualizing Joint Solutions in Descartes

The proposed worktries is to visualize the kinematic joint solutions for the trajectories provided by Descartes. As the trajectories consist of...

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ROS Interface for Impedance/Force Control

This proposal discusses a method to build a ROS interface that enable cartesian impedance control for accomplishing autonomous tasks that require...

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Reactive and Adaptive Path Planning Using Sensor Feedback and Operator Input

ROS path planners such as MoveIt! and Descartes are good at finding feasible robot paths that avoid obstacles and optimize motion. In some...

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Project Proposal for "Graphical interface for inserting plugins during simulation" Causevic

In order to add a new plugin Gazebo programmers must change the .world file and restart Gazebo each time [15]. Furthermore modifying source code,...

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Extend communication outside the LAN

This project will modify the core library to be able to communicate nodes located in different LANs. This will require to pass in an additional...

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integrating gazebojs with gzweb into gazebow.

this project aims to integrate two existing simulation tools, gzweb and gazebojs into a new tool called gazebow, the project involves replacing the...

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