The following are some open-source software packages that we have developed. Additional paper-specific software is available via the publications page.
- H2SL: Human
2 Structured Language (H2SL) provides the source code for a
set of libraries and executables that convert free-form text
input to its corresponding structured language instance.
- LCM: A set of
libraries and tools for message passing and data marshalling,
targeted at real-time systems where high-bandwidth and low
latency are critical. It provides a publish/subscribe message
passing model and automatic marshalling/unmarshalling code
generation with bindings for applications in a variety of
A set of libraries, tools, and algorithms that are designed to
facilitate robotics research. Among others, these include
convenience functions for maintaining coordinate
transformations, tools for parameter management and process
administration, and a 3D visualization library. Initially
developed at MIT for the 2007 DARPA Grand Challenge and
the Agile Robotics for
libbot2 is designed to provide a core set of capabilities for
robotics applications and has been utilized on a number of
different robotic vehicles.
- pods: A tool
for creating modular libraries and executables that provides a
standardized build structure in order to simplify