Welcome to the official GitHub for open source mobile robot software developed at the Osnabrück University (UOS).
We focus on cutting-edge research in robotics, 3D navigation, localization, and simulation. Our repositories offer tools and frameworks to support autonomous systems in unstructured environments.
A selection of our research projects:
- rmagine – Fast ray casting-based simulation of range sensors in 3D environments. [ICRA 2023]
- RadaRays – Ray tracing-based simulation of spinning FMCW radars. [RA-L 2025]
- MeshNav – Navigation over 3D triangle mesh surfaces. [IAV 2016][ICRA 2021]
- MeshMPPI – Model predictive control on surface meshes & dynamic obstacle avoidance.
- TSDF-MCL – 6-DoF localization in TSDF-based 3D maps. [IRC 2023][IJSC 2025]
- RMCL – Mobile Robot Localization in 3D Triangle Meshes / Geometric Scene Graphs. [IROS 2024]
- warpsense/featsense – GPU-implementation of HATSDF-SLAM and F-LOAM based TSDF-Mapping. [IRC 2023]
- HATSDF-SLAM – A fully integrated system for hardware-accelerated TSDF SLAM with LiDAR sensors. [Robotics and Autonomous Systems 2022]
- lvr2 – A C++ library for reconstructing mesh surfaces from (unordered) 3D point cloud data. [IRC 2018]
- ros2_tutorial – Educational material for learning ROS 2.
- ceres_robot – Software stack for the Ceres robot platform.
- marina – The missing ROS 2 bag registry.
- minot – A versatile toolset for debugging and verifying stateful robot perception software. [ROSCon Fr & De 2025]
- uos_tools – Utility scripts and packages for robotics development.
- ReconfROS – Running ROS on Reconfigurable SoCs. [DroneSE and RAPIDO '21]
- mesh_tools – Tools and Messages for Annotated 3D Triangle Meshes in ROS. [Robotics and Autonomous Systems 2021]
This organization is shared with research groups at Osnabrück University (UOS) working in the field of mobile robotics.
- Website: kbs.informatik.uos.de
- Head: Prof. Dr. Joachim Hertzberg
- Website: www.informatik.uos.de/research_groups/computer_engineering.html
- Head: Prof. Dr. Mario Porrmann
We welcome collaboration and contributions. Feel free to explore our repositories and get in touch.