Softwares

The Robot Operating System (ROS) is a set of open source software libraries and tools that help roboticist build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS greatly helps in the developpement of robotics project.

Gazebo is a dynamic simulator using state of the art physic engin to efficiently simulate populations of robots in complex indoor and outdoor environments. Its compatibility with ROS makes it a standard simulation to test the behaviour of the robotic application that I build.

PlotJuggler is a tool to visualize time series that is fast, powerful and intuitive. It is compatible with ROS and a useful tool to visualize ROS topics.

MoveIt is a software that incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, and navigation. The control part in MoveIt is a bit lacking compared to state of the art QP solution. In my work with INRIA I developped an interface to use MoveIt along side our QP controllers.

The Open Robot Control Software (Orocos) is a set of tools for development of robotics software. I use OROCOS to write real-time component in C++.

Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. It is the library use to compute all our robot models.

qpOASES is an open-source C++ implementation of the recently proposed online active set strategy, which was inspired by important bservations from the field of parametric quadratic programming (QP).

Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms. It is heavily used inside most of the code I write.

The OSQP (Operator Splitting Quadratic Program) solver is a numerical optimization package for solving convex quadratic programs.

Visual Studio Code is a code editor redefined and optimized for building and debugging modern web and cloud applications.

GitLab is an open source end-to-end software development platform with built-in version control, issue tracking, code review, CI/CD, and more.