Repository files navigation

List of (awesome) Rust libraries for Robotics. If you know something awesome (or your project), please let me know fromhere.

ROS related libraries.

• rosrust - Pure Rust implementation of a ROS client library.
• ros2_rust - Rust bindings for ROS2
• roslibrust - Pure Rust implementation of arosbridge client.
• r2r - Minimal ROS2 Rust bindings
• rclrust - Yet another ROS2 Rust client
• ros2-client - Rust native client library for ROS2
• RustDDS - Rust implementation of Data Distribution Service
• rosbag - Reading rosbag files in pure Rust
• rustros_tf - A rust implementation of the Tf library.
• ros_pointcloud2 - The safe way of using PointCloud2 messages in ROS1 and ROS2.
• rmw_iceoryx2 - A ROS 2 RMW implementation based on iceoryx2
• optimization-engine - Fast & Accurate Embedded Optimization for next-generation Robotics and Autonomous Systems
• safe_drive - safe_drive: Formally Specified Rust Bindings for ROS2
• transforms - A minimal and stand-alone crate inspired by the ROS2 tf library, but not dependent on ROS or middleware

• bonsai-bt - A Behavior Tree implementation in Rust
• crossflow - A petri-net like library for bevy.

• HORUS - Hybrid Optimized Robotics Unified System, a real-time Rust robotics framework for next-generation robot control.
• copper - Copper is a user-friendly robotics framework designed for creating fast and reliable robots. Copper is to robots what a game engine is to games.
• dora-rs - A fast and simple robotics frameworks for AI.
• iceoryx2 - A true zero-copy inter-process communication middleware with a sub microsecond latency for safety-critical applications
• OpenRR - Open Rust Robotics
• Zenoh - A high performance and extremely low overhead Pub/Sub/Query protocol. Quickly becoming the protocol of choice for Robot-to-Anything communication.
• Peng - A minimal quadrotor autonomy framework

gRPC A high performance, open source universal RPC framework.

• CleanIt - Open-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners.

Math related libraries for Robotics.

• nalgebra - Linear algebra library for Rust.
• ncollide - 2 and 3-dimensional collision detection library in Rust.
• kdtree - K-dimensional tree in Rust for fast geospatial indexing.
• k - k: Kinematics Library for rust-lang.
• static-math - Safe and fast mathematical operations with static arrays in Rust programming language thinked for robotics
• ndarray - N-dimensional tensor arithmetic library, inspired by python's NumPy.
• faer-rs - Linear algebra foundation for the Rust programming language

Path planning libraries.

• mapf - Multi-Agent Pathfinding Library
• pathfinding - Pathfinding library for rust
• rrt - RRT (Rapidly-exploring Random Tree) library in Rust
• openrr-planner - Collision Avoidance Path Planning in Rust-lang
• rs-opw-kinematics - Analytical inverse and forward kinematicsfor the 6DOF robots with spherical wrist.

Physics simulation for robots

• rapier - 2 and 3-dimensional rigid body physics engine for Rust.
• Rust zmqRemoteApi - A Rust ZeroMQ remote API client forcoppeliasim robotics simulator
• wgpu_rt_lidar - A rust implementation of raytracing based lidars.

Graphic and visualization for Robotics.

• kiss3d - Keep it simple, stupid 3d graphics engine for Rust.
• urdf-viz - URDF visualizer
• rerun — A logging SDK and visualizer for computer vision and robotics
• rmf_site - Robot Traffic Layout Tool

Libraries useful for Computer Vision

• image - An image processing library
• cv - Implementation of computer vision algorithms, abstractions, and systems in Rust
• kornia-rs - Low-level 3D Computer Vision library in Rust
• opencv-rust - Rust bindgens forOpenCV

Import/Export various files related with Robotics

• assimp-rs (open-asset-importer) - Rust bindings for theAssimp library.
• mcap - Rust library for reading and writingMCAP log files
• urdf-rs - URDF Loader for Rust
• pcd-ros - Read point cloud data from PCD file format
• sdformat - SDFormat parser

Robotics releated sensor/motor drivers

• libsweep - Rust wrapper for Scanse Sweep LIDAR libsweep
• freenect-rs - Freenect wrapper for rust
• rplidar-rs - Slamtec RPLIDAR public SDK for Rust
• hls_lfcd_lds_rs - ROBOTIS HLDS HLS-LFCD-LDS SDK for RUST
• dynpick-force-torque-sensor - Wacoh-tech 6-axis force sensor (Dynpick) driver
• leptrino-force-torque-sensor - Leptrino 6-axis force sensor driver
• realsense-rust - RealSense Bindings for Rust

Computer Vision and Image processing libraries

• kornia-rs - Low-level 3D Computer Vision library in Rust