https://github.com/Ly0n/awesome-robotic-tooling

Just a bunch of powerful robotic resources and tools for professional robotic development with ROS in C++ and Python.

Awesome Robotic Tooling

Just a bunch of powerful robotic resources and tools for professional robotic development with ROS in C++ and Python.

Lets build a complete open source robotic development environment together.

• Coordination and Communication
• Documentation and Presentation
• Architecture and Design
• Framework
• Development Environment
  • Template
  • Code and Run
  • Build and Deploy
  • Unit and Integration Test
  • Lint and Format
  • Version Control
  • Launch and Monitor
• Hardware
  • Calibration
• Simulation
• Sensor Processing
  • Pipeline
  • Parallel Processing
  • Machine Learning
  • Image Processing
  • Point Cloud Processing
  • Localization
  • SLAM
    • Lidar
    • Camera
    • Static Maps
• Behavior and Decision
• Planning and Control
• Data Interaction
  • Graphical User Interface
  • Command Line
  • Storage and Record
  • Network Distributed File Systems
  • High Performance Computing
  • Annotation
  • Visualization
  • Point Clouds
  • RViz
• System
  • Operation System
  • Network and Middleware
  • Debugging and Tracing
  • Security
  • Safety
  • Real-Time
• Awesome

Coordination and Communication

• Unix philosophy - Set of cultural norms for developing software
• Agile Development - Manifesto for Agile Software Development
• Gitflow - Makes parallel development very easy, by isolating new development from finished work
• DeepL - DeepL, an online translator that outperforms Google, Microsoft and Facebook
• Taiga - Agile Projectmanagment Tool
• Kanboard - Minimalistic Kanban Board
• Gitlab - Simple Selfhosted Gitlab Server with Docker
• Gogs - Aims to build a simple, stable and extensible self-hosted Git service that can be setup in the most painless way
• Woost - Workflow Automation, Collaboration with Externals
• Wekan - Meteor based Kanban Board
• JIRA API - Python Library for REST API of Jira
• Taiga API - Python Library for REST API of Taiga
• Chronos-Timetracker - Desktop client for JIRA. Track time, upload worklogs without a hassle
• Grge - Grge is a daemon and command line utility augmenting GitLab
• gitlab-triage - GitLab's issues and merge requests triage, automated!
• Helpy - is a modern, open source helpdesk customer support application
• ONLYOFFICE - is a free open source collaborative system developed to manage documents, projects, customer relationship and email correspondence, all in one place.

Documentation and Presentation

• Typora - A Minimalist Markdown Editor
• Markor - A Simple Markdown Editor for your Android Device
• Pandoc - Universal markup converter
• Yaspeller - Command line tool for spell checking
• Doxygen - Doxygen is the de facto standard tool for generating documentation from annotated C++ sources
• Word-to-Markdown - A ruby gem to liberate content from Microsoft Word document
• carbon - Share beautiful images of your source code
• ASCIIMATICS - Create a GIF for your command line examples
• inkscape - Inkscape is a professional vector graphics editor for Linux, Windows and macOS
• Reveal-Hugo - A Hugo theme for Reveal.js that makes authoring and customization a breeze. With it, you can turn any properly-formatted Hugo content into a HTML presentation.
• Hugo-Webslides - This is a Hugo template to create WebSlides presentation using markdown.
• jupyter2slides - Cloud Native Presentation Slides with Jupyter Notebook + Reveal.js
• patat - Terminal-based presentations using Pandoc
• github-changelog-generator - Automatically generate change log from your tags, issues, labels and pull requests on GitHub.
• GitLab-Release-Note-Generator - A Gitlab release note generator that generates release note on latest tag
• Gerrit - is a code review and project management tool for Git based projects

Architecture and Design

• yed - yEd is a powerful desktop application that can be used to quickly and effectively generate high-quality diagrams
• yed_py - Generates graphML that can be opened in yEd
• Plantuml - Web application to generate UML diagrams on-the-fly in your live documentation
• rqt_graph - rqt_graph provides a GUI plugin for visualizing the ROS computation graph
• rqt_launchtree - An RQT plugin for hierarchical launchfile configuration introspection.
• cpp-dependencies - Tool to check C++ #include dependencies (dependency graphs created in .dot format)
• pydeps - Python Module Dependency graphs
• aztarna - a footprinting tool for robots.

Framework

• ROS - ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications
• ROS2 - ROS2 is the next generation robot operating system, and is actively being developed to fully replace ROS1 in the near future
• OpenPilot - Open Source Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS)
• Apollo - High performance, flexible architecture which accelerates the development, testing, and deployment of Autonomous Vehicles.
• Autoware.ai - Autoware.AI is the world's first "All-in-One" open-source software for autonomous driving technology
• AutowareAuto - It is a clean slate rewrite of Autoware. Autoware.Auto applies best-in-class software engineering.
• Stanford Self Driving Car Code - Stanford Code From Cars That Entered DARPA Grand Challenges

Development Environment

Template

• ROS - Template for ROS node standardization in C++
• Launch - Templates on how to create launch files for larger projects
• Bash - A bash scripting template incorporating best practices & several useful functions
• URDF - Examples on how to create Unified Robot Description Format (URDF) for different kinds of robots
• Python - Style guide to be followed in writing Python code for ROS
• Docker - The Dockerfile in the minimal-ade project shows a minimal example of how to create a custom base image

Code and Run

• Vim-ros - Vim plugin for ROS development
• Visual Studio Code - Code editor for edit-build-debug cycle.
• atom - Hackable text editor for the 21st century
• Sublime - A sophisticated text editor for code, markup and prose
• ade-cli - The ADE Development Environment (ADE) uses docker and Gitlab to manage environments of per project development tools and optional volume images
• Jupyter ROS - Jupyter widget helpers for ROS, the Robot Operating System
• ros_rqt_plugin - The ROS Qt Creator Plug-in
• ROS IDEs - This page collects experience and advice on using integrated development environments (IDEs) with ROS.
• TabNine - The all-language autocompleter
• kite - Use machine learning to give you useful code completions for Python
• jedi - Autocompletion and static analysis library for python
• roslibpy - Python ROS Bridge library allows to use Python and IronPython to interact with ROS, the open-source robotic middleware.
• pybind11 - Seamless operability between C++11 and Python

Build and Deploy

• bloom - A release automation tool which makes releasing catkin packages easier
• catkin_tools - Command line tools for working with catkin
• industrial_ci - Easy continuous integration repository for ROS repositories
• gitlab-runner - runs tests and sends the results to GitLab
• colcon-core - command line tool to improve the workflow of building, testing and using multiple software packages
• gitlab-release - Simple python3 script to upload files (from ci) to the current projects release (tag)
• clang - This is a compiler front-end for the C family of languages (C, C++, Objective-C, and Objective-C++) which is built as part of the LLVM compiler infrastructure project
• catkin_virtualenv - Bundle python requirements in a catkin package via virtualenv
• aptly - Debian repository management tool

Unit and Integration Test

• UnitTesting - This page lays out the rationale, best practices, and policies for writing and running unit tests and integration tests for ROS.
• googletest - Google's C++ test framework
• pytest - The pytest framework makes it easy to write small tests, yet scales to support complex functional testing
• doctest - The fastest feature-rich C++11/14/17/20 single-header testing framework for unit tests and TDD

Lint and Format

• cppcheck - Static analysis of C/C++ code
• hadolint - Dockerfile linter, validate inline bash, written in Haskell
• shellcheck - a static analysis tool for shell scripts
• catkin_lint - catkin_lint checks package configurations for the catkin build system of ROS.
• pylint - Pylint is a Python static code analysis tool which looks for programming errors, helps enforcing a coding standard, sniffs for code smells and offers simple refactoring suggestions.
• black - The uncompromising Python code formatter
• pydocstyle - pydocstyle is a static analysis tool for checking compliance with Python docstring conventions
• haros - H(igh) A(ssurance) ROS - Static analysis of ROS application code.

Launch and Monitor

• rosmon - ROS node launcher & monitoring daemon

Version Control

• meld - Meld is a visual diff and merge tool that helps you compare files, directories, and version controlled projects
• tig - Text-mode interface for git
• gitg - is a graphical user interface for git
• git-cola - The highly caffeinated Git GUI
• python-gitlab - is a Python package providing access to the GitLab server API.
• bfg-repo-cleaner - Removes large or troublesome blobs like git-filter-branch does, but faster.
• nbdime - Tools for diffing and merging of Jupyter notebooks.
• semantic-release - Fully automated version management and package publishing
• go-semrel-gitab - Automate version management for Gitlab
• Git-repo - Git-Repo helps manage many Git repositories, does the uploads to revision control systems, and automates parts of the development workflow

Hardware

• HRIM - An information model for robot hardware
• URDF - Repository for Unified Robot Description Format (URDF) parsing code
• urdf-viz - Visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux
• solidworks_urdf_exporter - SolidWorks to URDF Exporter
• FreeCAD - Your own 3D parametric modeler

Calibration

• lidar_align - A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
• kalibr - The Kalibr visual-inertial calibration toolbox
• Calibnet - Self-Supervised Extrinsic Calibration using 3D Spatial Transformer Networks
• lidar_camera_calibration - ROS package to find a rigid-body transformation between a LiDAR and a camera
• ILCC - Reflectance Intensity Assisted Automatic and Accurate Extrinsic Calibration of 3D LiDAR
• easy_handeye - Simple, straighforward ROS library for hand-eye calibration
• imu_utils - A ROS package tool to analyze the IMU performance
• kalibr_allan - IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters

Simulation

• Drake - Drake aims to simulate even very complex dynamics of robots
• Webots - Webots is an open source robot simulator compatible (among others) with ROS and ROS2.
• lgsv - LG Electronics America R&D Center has developed an HDRP Unity-based multi-robot simulator for autonomous vehicle developers.
• carla - Open-source simulator for autonomous driving research
• deepdive - End-to-end simulation for self-driving cars
• uuv_simulator - Gazebo/ROS packages for underwater robotics simulation
• AirSim - Open source simulator for autonomous vehicles built on Unreal Engine
• self-driving-car-sim - A self-driving car simulator built with Unity
• ROSIntegration - Unreal Engine Plugin to enable ROS Support
• gym-gazebo - An OpenAI gym extension for using Gazebo known as gym-gazebo
• highway-env - A collection of environments for autonomous driving and tactical decision-making tasks
• VREP Interface - ROS Bridge for the VREP simulator
• car_demo - This is a simulation of a Prius in gazebo 9 with sensor data being published using ROS kinetic.
• sumo - Eclipse SUMO is an open source, highly portable, microscopic and continuous road traffic simulation package designed to handle large road networks

Sensor Processing

Pipeline

• SARosPerceptionKitti - ROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark Suite
• multiple-object-tracking-lidar - C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud

Parallel Processing

• dask - Parallel computing with task scheduling for Python
• cupy - NumPy-like API accelerated with CUDA
• thrust - Thrust is a C++ parallel programming library which resembles the C++ Standard Library.
• ArrayFire - ArrayFire: a general purpose GPU library.

Machine Learning

• DLIB - A toolkit for making real world machine learning and data analysis applications in C++
• fastai - The fastai library simplifies training fast and accurate neural nets using modern best practices.
• tpot - A Python Automated Machine Learning tool that optimizes machine learning pipelines using genetic programming
• deap - Distributed Evolutionary Algorithms in Python
• gym - A toolkit for developing and comparing reinforcement learning algorithms.
• tensorflow_ros_cpp - A ROS package that allows to do Tensorflow inference in C++ without the need to compile TF yourself.
• cadrl_ros - ROS package for dynamic obstacle avoidance for ground robots trained with deep RL

Image Processing

• vision_visp - Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package
• deep_object_pose - Deep Object Pose Estimation
• DetectAndTrack - Detect-and-Track: Efficient Pose
• SfMLearner - An unsupervised learning framework for depth and ego-motion estimation
• imgaug - Image augmentation for machine learning experiments
• vision_opencv - Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.
• darknet_ros - YOLO ROS: Real-Time Object Detection for ROS
• tf-pose-estimation - Deep Pose Estimation implemented using Tensorflow with Custom Architectures for fast inference.
• find-object - Simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors
• yolact - A simple, fully convolutional model for real-time instance segmentation.

Point Cloud Processing

• cilantro - A lean C++ library for working with point cloud data
• open3d - Open3D: A Modern Library for 3D Data Processing
• SqueezeSeg - Implementation of SqueezeSeg, convolutional neural networks for LiDAR point clout segmentation
• point_cloud_io - ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).
• python-pcl - Python bindings to the pointcloud library
• libpointmatcher - An "Iterative Closest Point" library for 2-D/3-D mapping in Robotics
• depth_clustering - Fast and robust clustering of point clouds generated with a Velodyne sensor.
• lidar-bonnetal - Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving
• CSF - LiDAR point cloud ground filtering / segmentation (bare earth extraction) method based on cloth simulation
• robot_body_filter - A highly configurable LaserScan/PointCloud2 filter that allows to dynamically remove the 3D body of the robot from the measurements.
• grid_map - Universal grid map library for mobile robotic mapping
• elevation_mapping - Robot-centric elevation mapping for rough terrain navigation
• rangenet_lib - contains simple usage explanations of how the RangeNet++ inference works with the TensorRT and C++ interface.
• pointcloud_to_laserscan - Converts a 3D Point Cloud into a 2D laser scan.

Localization

• evo - Python package for the evaluation of odometry and SLAM
• robot_localization - is a package of nonlinear state estimation nodes
• fuse - General architecture for performing sensor fusion live on a robot.
• rep-105 - Naming conventions and semantic meaning for coordinate frames of mobile platforms used with ROS.
• GeographicLib - A C++ library for geographic projections.
• ntripbrowser - A Python API for browsing NTRIP (Networked Transport of RTCM via Internet Protocol).
• imu_tools - IMU-related filters and visualizers.
• RTKLIB - A version of RTKLIB optimized for single and dual frequency low cost GPS receivers, especially u-blox receivers

SLAM

Lidar

• loam_velodyne - Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
• lio-mapping - Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
• A-LOAM - Advanced implementation of LOAM
• cartographer_ros - Provides ROS integration for Cartographer
• loam_livox - A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
• StaticMapping - Use LiDAR to map the static world
• semantic_suma - Semantic Mapping using Surfel Mapping and Semantic Segmentation

Camera

• dso - Direct Sparse Odometry
• viso2 - A ROS wrapper for libviso2, a library for visual odometry
• xivo - X Inertial-aided Visual Odometry
• rovio - Robust Visual Inertial Odometry Framework
• MIT Kimera-Semantics - C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM)
• LSD-SLAM - LSD-SLAM: Large-Scale Direct Monocular SLAM is a real-time monocular SLAM
• CubeSLAM and ORB SLAM - Monocular 3D Object Detection and SLAM Package of CubeSLAM and ORB SLAM
• VINS-Fusion - A Robust and Versatile Multi-Sensor Visual-Inertial State Estimator

Static Map

• OpenDRIVE - OpenDRIVE® is an open file format for the logical description of road networks
• MapsModelsImporter - A Blender add-on to import models from google maps
• Lanelet2 - Map handling framework for automated driving
• barefoot - Online and Offline map matching that can be used stand-alone and in the cloud
• iD - The easy-to-use OpenStreetMap editor in JavaScript
• segmap - A map representation based on 3D segments
• Mapbox - is a JavaScript library for interactive, customizable vector maps on the web
• osrm-backend - Open Source Routing Machine - C++ backend

Behavior and Decision

• BehaviorTree.CPP - Behavior Trees Library in C++
• RAFCON - Uses hierarchical state machines, featuring concurrent state execution, to represent robot programs

Planning and Control

• rrt - C++ RRT (Rapidly-exploring Random Tree) implementation
• HypridAStarTrailer - A path planning algorithm based on Hybrid A* for trailer truck.
• path_planner - Hybrid A* Path Planner for the KTH Research Concept Vehicle
• open_street_map - ROS packages for working with Open Street Map geographic information.
• Open Source Car Control - is an assemblage of software and hardware designs that enable computer control of modern cars in order to facilitate the development of autonomous vehicle technology
• fastrack - A ROS implementation of Fast and Safe Tracking (FaSTrack).

Data Interaction

Graphical User Interface

• dynamic_reconfigure - The focus of dynamic_reconfigure is on providing a standard way to expose a subset of a node's parameters to external reconfiguration
• mir - Mir is set of libraries for building Wayland based shells
• qtpy - Provides an uniform layer to support PyQt5, PySide2, PyQt4 and PySide with a single codebase
• rqt - rqt is a Qt-based framework for GUI development for ROS. It consists of three parts/metapackages
• cage - This is Cage, a Wayland kiosk. A kiosk runs a single, maximized application.
• chilipie - Easy-to-use Raspberry Pi image for booting directly into full-screen Chrome
• qgis_ros - Access bagged and live topic data in a highly featured GIS environment

Command Line

• dotfiles of cornerman - Powerful zsh and vim dotfiles
• prompt-hjem - A beautiful zsh prompt
• ag - A code-searching tool similar to ack, but faster.
• fzf - A command-line fuzzy finder
• pkgtop - Interactive package manager and resource monitor designed for the GNU/Linux.
• gocui - Minimalist Go package aimed at creating Console User Interfaces.
• TerminalImageViewer- Small C++ program to display images in a (modern) terminal using RGB ANSI codes and unicode block graphics characters
• rosshow - Visualize ROS topics inside a terminal with Unicode/ASCII art
• python-prompt-toolkit - Library for building powerful interactive command line applications in Python
• bash-script-template - A best practices Bash script template with several useful functions
• guake - Drop-down terminal for GNOME
• wemux - Multi-User Tmux Made Easy
• tmuxp - tmux session manager built on libtmux
• mapscii - World map renderer for your console
• terminator - The goal of this project is to produce a useful tool for arranging terminals
• bat - A cat(1) clone with wings.

Storage and Record

• ncdu - Ncdu is a disk usage analyzer with an ncurses interface
• borg - Deduplicating archiver with compression and authenticated encryption
• bag-database - A server that catalogs bag files and provides a web-based UI for accessing them
• marv-robotics - MARV Robotics is a powerful and extensible data management platform
• kitti2bag - Convert KITTI dataset to ROS bag file the easy way!
• rosbag_editor - Create a rosbag from a given one, using a simple GUI
• nextcloud - Nextcloud is a suite of client-server software for creating and using file hosting services.
• ros_type_introspection - Deserialize ROS messages that are unknown at compilation time

Network Distributed File Systems

• sshfs - File system based on the SSH File Transfer Protocol
• moosefs - a scalable distributed storage system
• ceph - is a distributed object, block, and file storage platform
• nfs - is a distributed file system protocol originally developed by Sun Microsystems A fully functional local AWS cloud stack. Develop and test your cloud & Serverless apps offline!

High Performance Computing

• localstack - A fully functional local AWS cloud stack. Develop and test your cloud & Serverless apps offline
• nvidia-docker - Build and run Docker containers leveraging NVIDIA GPUs
• kubernetes - Production-Grade Container Scheduling and Management
• kubeflow - Machine Learning Toolkit for Kubernetes
• log-pilot - Collect logs for docker containers
• traefik - The Cloud Native Edge Router
• graylog2-server - Free and open source log management
• ansible - Ansible is a radically simple IT automation platform that makes your applications and systems easier to deplo
• docker-py - A Python library for the Docker Engine API
• noVNC - VNC client using HTML5
• Slurm - Slurm: A Highly Scalable Workload Manager
• jupyterhub - Multi-user server for Jupyter notebooks
• Portainer - Making Docker management easy

Annotation

• rviz_cloud_annotation - Point cloud annotation tool based on RViz
• PixelAnnotationTool - Annotate quickly images
• LabelImg - LabelImg is a graphical image annotation tool and label object bounding boxes in images
• cvat - Powerful and efficient Computer Vision Annotation Tool (CVAT)

Visualization

• webviz - web-based visualization libraries like rviz
• plotly.py - An open-source, interactive graphing library for Python
• PlotJuggler - The timeseries visualization tool that you deserve
• bokeh - Interactive Data Visualization in the browser, from Python
• voila - From Jupyter notebooks to standalone web applications and dashboards
• Pangolin - Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
• rqt_bag - provides a GUI plugin for displaying and replaying ROS bag files.

Point Clouds

• CloudCompare - CloudCompare is a 3D point cloud (and triangular mesh) processing software.
• Potree - WebGL point cloud viewer for large datasets
• point_cloud_viewer - makes viewing massive point clouds easy and convenient
• ParaView - VTK-based Data Analysis and Visualization Application

RViz

• mapviz - Modular ROS visualization tool for 2D data.
• rviz_cinematographer - Easy to use tools to create and edit trajectories for the rviz camera.
• rviz_satellite - Display internet satellite imagery in RViz
• rviz_visual_tools - C++ API wrapper for displaying shapes and meshes in Rviz
• tf_keyboard_cal - Allows manual control of a TF through the keyboard or interactive markers

System

• htop - htop is an interactive text-mode process viewer for Unix systems. It aims to be a better 'top'.
• atop - System and process monitor for Linux with logging and replay function
• psutil - Cross-platform lib for process and system monitoring in Python
• gputil - A Python module for getting the GPU status from NVIDA GPUs using nvidia-smi programmically in Python
• gpustat - A simple command-line utility for querying and monitoring GPU status
• nvtop - NVIDIA GPUs htop like monitoring tool
• spdlog - Very fast, header-only/compiled, C++ logging library
• ctop - Top-like interface for container metrics

Operation System

• Yocto - Produce tools and processes that enable the creation of Linux distributions for embedded software that are independent of the underlying architecture of the embedded hardware
• Automotive Graded Linux - is a collaborative open source project that is bringing together automakers, suppliers and technology companies to build a Linux-based, open software platform for automotive applications that can serve as the de facto industry standard
• robot_upstart - presents a suite of scripts to assist with launching background ROS processes on Ubuntu Linux PCs
• bitbake - is a generic task execution engine that allows shell and Python tasks to be run efficiently and in parallel while working within complex inter-task dependency constraints.
• Jailhouse - Jailhouse is a partitioning Hypervisor based on Linux
• Xen - is an open-source (GPL) type-1 or baremetal hypervisor
• QEMU - is a generic and open source machine emulator and virtualizer
• rosserial - A ROS client library for small, embedded devices, such as Arduino
• meta-ros - OpenEmbedded Layer for ROS Applications
• meta-balena - Run Docker containers on embedded devices
• micro-ros - The major changes compared to "regular" ROS 2 is that micro-ROS uses a Real-Time Operating System (RTOS) instead of Linux, and DDS for eXtremely Resource Constrained Environments

Network and Middleware

• pyshark - Python wrapper for tshark, allowing python packet parsing using wireshark dissectors
• pingtop - Ping multiple servers and show results in a top-like terminal UI
• termshark - A terminal UI for tshark, inspired by Wireshark
• nethogs - It groups bandwidth by process
• canmmatrix - Converting CAN Database Formats .arxml .dbc .dbf .kcd
• performance_test - Tool to test the performance of pub/sub based communication frameworks.
• tcpreplay - Pcap editing and replay tools
• iperf - A TCP, UDP, and SCTP network bandwidth measurement tool
• can-utils - Linux-CAN / SocketCAN user space applications
• ros_canopen - CANopen driver framework for ROS
• decanstructor - The definitive ROS CAN analysis tool.
• ros1_bridge - ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2
• Fast-RTPS - protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium
• ptpd - PTP daemon (PTPd) is an implementation the Precision Time Protocol (PTP) version 2 as defined by 'IEEE Std 1588-2008'. PTP provides precise time coordination of Ethernet LAN connected computers
• wireless - Making info about wireless networks available to ROS.
• protobuf - Google's data interchange format
• CANdevStudio - CANdevStudio aims to be cost-effective replacement for CAN simulation software. It can work with variety of CAN hardware interfaces

Debugging and Tracing

• lptrace - It lets you see in real-time what functions a Python program is running
• pyre-check - Performant type-checking for python
• FlameGraph - Visualize profiled code
• gpuvis - GPU Trace Visualizer
• sanitizer - AddressSanitizer, ThreadSanitizer, MemorySanitizer
• cppinsights - C++ Insights - See your source code with the eyes of a compiler
• inspect - The inspect module provides functions for learning about live objects, including modules, classes, instances, functions, and methods
• Roslaunch Nodes in Valgrind or GDB - When debugging roscpp nodes that you are launching with roslaunch, you may wish to launch the node in a debugging program like gdb or valgrind instead.

Security

• RSF - Robot Security Framework (RSF) is a standardized methodology to perform security assessments in robotics.
• gocryptfs - Encrypted overlay filesystem written in Go
• How-to-Secure-A-Linux-Server - An evolving how-to guide for securing a Linux server.
• lynis - Lynis - Security auditing tool for Linux, macOS, and UNIX-based systems. Assists with compliance testing (HIPAA/ISO27001/PCI DSS) and system hardening
• OpenVPN - is an open source VPN daemon
• WireGuard - WireGuard is a novel VPN that runs inside the Linux Kernel and utilizes state-of-the-art cryptography
• ssh-auditor - Scans for weak ssh passwords on your network
• vulscan - Advanced vulnerability scanning with Nmap NSE
• nmap-vulners - NSE script based on Vulners.com API
• brutespray - Automatically attempts default creds on found services.
• fail2ban - Daemon to ban hosts that cause multiple authentication errors
• is-website-vulnerable - Finds publicly known security vulnerabilities in a website's frontend JavaScript libraries
• DependencyCheck - is a software composition analysis utility that detects publicly disclosed vulnerabilities in application dependencies
• firejail - Firejail is a SUID sandbox program that reduces the risk of security breaches by restricting the running environment of untrusted applications using Linux namespaces, seccomp-bpf and Linux capabilities
• RVD - Robot Vulnerability Database. Community-contributed archive of robot vulnerabilities and weaknesses

Safety

• open-autonomous-safety - OAS is a fully open-source library of Voyage’s safety processes and testing procedures, designed to supplement existing safety programs at self-driving car startups across the world.
• CarND-Functional-Safety-Project - create functional safety documents Udacity project
• Automotive Grade Linux - Automotive Grade Linux is a collaborative open source project that is bringing together automakers, suppliers and technology companies to accelerate the development and adoption of a fully open software stack for the connected car
• safe_numerics - Replacements to standard numeric types which throw exceptions on errors

Real-Time

• Realtime Testing Best Practices - This page is intended to serve as a collecting point for presentations, documents, results, links and descriptions about testing Realtime performance of Linux systems.
• ELISA - Project is to make it easier for companies to build and certify Linux-based safety-critical applications – systems whose failure could result in loss of human life, significant property damage or environmental damage
• PREEMPT_RT kernel patch - Aim of the PREEMPT_RT kernel patch is to minimize the amount of kernel code that is non-preemptible.

Awesome

• awesome-safety-critical - List of resources about programming practices for writing safety-critical software.
• awesome-ros2 - A curated list of awesome Robot Operating System Version 2.0 (ROS 2) resources and libraries.