The open-source Software Development Environment (SDE) for collaborative research in robotic system integration
One containerized environment for every contributor, in simulation or on the real robot.
Website · OpenRoSDE Repository · Quick Start · Advanced Robotics Paper · Contributing Guide · Coarobo GK
OpenRoSDE, read "Open Robotic SDE", is the open-source reference implementation of the Software Development Environment (SDE) described in "Software Development Environment for Collaborative Research Workflow in Robotic System Integration" (DOI: 10.1080/01691864.2022.2068353). The whole OpenRoSDE is containerized with Docker, so all the contributors work in the exact same software environment. Its robot, simulator, visualization, and behavior interfaces are primarily implemented with ROS, Gazebo, RViz, and FlexBE.
- Three image layers:
openrosde-baseholds the shared toolchain,<platform>-develadds one robot, anduser-develholds the user overlay, where you add your own packages without forking OpenRoSDE. - Extensions: each platform and each device lives in a repository of its own, public or private, which OpenRoSDE finds by name once it is cloned into
extensions/. - ROS 1 & ROS 2: each platform declares the ROS it runs, ROS Noetic on Ubuntu 20.04 or ROS 2 Lyrical on Ubuntu 26.04, side by side.
- Robot models for any client:
rosbridgeserves the robot description and every mesh as a GLB to web and Unity applications. - One session per robot:
RUN-TMUX-SESSION.bashgathers the terminals of a robot in onetmuxsession, with the same standard tabs on every platform. - A CI that never moves a robot: every setup is built, then checked in a container disconnected from every network.
| Repository | Role | Description |
|---|---|---|
| openrosde | Core | Entry scripts, shared Docker images of ROS 1 and ROS 2, shared workspaces, user overlay, and CI |
| openrosde-docs | Documentation | Source of the openrosde.org website and documentation |
| .github | Organization | This profile and the community health files of every repository |
Each platform holds one robot as sold, with its public drivers, and is cloned into extensions/ of the core.
| Repository | Platforms | Robot | ROS |
|---|---|---|---|
| openrosde-platform-cobotta | cobotta |
Denso COBOTTA | ROS 1 Noetic |
| openrosde-platform-fetch | fetch |
Fetch Robotics Fetch | ROS 1 Noetic |
| openrosde-platform-hsr | hsr |
Toyota HSR (Human Support Robot) | ROS 1 Noetic |
| openrosde-platform-sciurus17 | sciurus17 |
RT Sciurus17 | ROS 1 Noetic |
| openrosde-platform-turtlebot3 | turtlebot3, turtlebot3-ros2 |
Robotis TurtleBot3 (Waffle Pi) | ROS 1 Noetic, ROS 2 Lyrical |
| openrosde-platform-ur5e | ur5e |
Universal Robots UR5e | ROS 1 Noetic |
Each device holds one upstream driver of hardware anyone can buy, with every model that driver supports, and is activated by the setup of a robot.
| Repository | Hardware |
|---|---|
| openrosde-device-onrobot | The OnRobot RG and VG grippers |
| openrosde-device-realsense | The RealSense cameras |
| openrosde-device-spacenav | Every 3Dconnexion device that spacenavd supports, such as the SpaceMouse |
git clone https://github.com/openrosde/openrosde.git && cd openrosde/
bash ./SETUP-DEVEL-MACHINE.bash
sudo rebootThen follow the Quick Start to clone a platform, build the Docker image, and open a first session on it.
If OpenRoSDE supports your research, please cite the paper that describes it:
L. El Hafi, G. A. Garcia Ricardez, F. von Drigalski, Y. Inoue, M. Yamamoto, and T. Yamamoto, "Software Development Environment for Collaborative Research Workflow in Robotic System Integration", in RSJ Advanced Robotics (AR), Special Issue on Software Framework for Robot System Integration, vol. 36, no. 11, pp. 533-547, Jun. 3, 2022. DOI: 10.1080/01691864.2022.2068353
https://openrosde.org/docs/project/citing gives its BibTeX entry and the related publications.
- Read the contributing guide, which also describes how to add a new robot platform.
- Report a problem in the repository concerned, such as the issues of the core.
- Report a security vulnerability privately, as the security policy describes.
- Follow the Code of Conduct in every space of the project.
OpenRoSDE is released under the Apache License 2.0 and maintained by Coarobo GK. The versions before 3.0.0 were published under the MIT License, and their archive remains at https://gitlab.com/coarobo/SDE.