Osnabrück University – Mobile Robotics

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Osnabrück, Germany

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README.md

UOS – Mobile Robotics

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.

Research

A selection of our research projects:

Simulation

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]

3D Navigation

MeshNav – Navigation over 3D triangle mesh surfaces. [IAV 2016] [ICRA 2021]
MeshMPPI – Model predictive control on surface meshes & dynamic obstacle avoidance.

Map-based Localization

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]

SLAM

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]

Geometry Processing

lvr2 – A C++ library for reconstructing mesh surfaces from (unordered) 3D point cloud data. [IRC 2018]

Teaching & Robots

ros2_tutorial – Educational material for learning ROS 2.
ceres_robot – Software stack for the Ceres robot platform.

Tools

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]

Involved Research Groups

This organization is shared with research groups at Osnabrück University (UOS) working in the field of mobile robotics.

Knowledge-Based Systems

Website: kbs.informatik.uos.de
Head: Prof. Dr. Joachim Hertzberg

Computer Engineering

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.

Pinned Loading

rmcl rmcl Public

Mobile Robot Localization in 3D Triangle Meshes & Geometric Scene Graphs

C++ 257 27
lvr2 lvr2 Public

Las Vegas Reconstruction 2.0

C++ 157 20
rmagine rmagine Public

A robot wants to simulate too

C++ 76 17
mesh_mppi mesh_mppi Public

MeshMPPI: A Model Predictive Path Integral control algorithm for MeshNav.

C++ 57 6
tsdf_localization tsdf_localization Public

6D Monte Carlo Localization in 3D TSDF maps

C++ 47 2
radarays_ros radarays_ros Public

Rotating FMCW radar simulation based on ray tracing

C++ 46 8

Repositories

Type Language Sort

marina Public
The missing ROS 2 bag registry.

uos/marina's past year of commit activity

Rust 6 Apache-2.0 1 0 1 Updated Aug 27, 2026
homebrew-tools Public
Homebrew tap for uos

uos/homebrew-tools's past year of commit activity

Ruby 0 0 0 0 Updated Aug 27, 2026
minot Public
A versatile toolset for debugging and verifying stateful robot perception software.

uos/minot's past year of commit activity

Rust 13 Apache-2.0 0 1 0 Updated Aug 27, 2026
ratslang Public
A minimal and extensible configuration language for humans working with robots.

uos/ratslang's past year of commit activity

Rust 2 Apache-2.0 0 1 0 Updated Aug 23, 2026
ros_pointcloud2 Public
A PointCloud2 message conversion library for ROS1 and ROS2.

uos/ros_pointcloud2's past year of commit activity

Rust 22 Apache-2.0 5 0 1 Updated Aug 23, 2026
lvr2 Public
Las Vegas Reconstruction 2.0

uos/lvr2's past year of commit activity

C++ 157 BSD-3-Clause 20 0 0 Updated Aug 11, 2026
rmcl Public
Mobile Robot Localization in 3D Triangle Meshes & Geometric Scene Graphs

uos/rmcl's past year of commit activity

C++ 257 BSD-3-Clause 27 1 0 Updated Aug 7, 2026
rmagine Public
A robot wants to simulate too

uos/rmagine's past year of commit activity

C++ 76 BSD-3-Clause 17 0 1 Updated Aug 6, 2026
rmagine_gazebo_plugins Public
Ray Casting-Based Range Sensor Simulation in Gazebo using Rmagine

uos/rmagine_gazebo_plugins's past year of commit activity

C++ 28 BSD-3-Clause 5 1 0 Updated Aug 6, 2026
.github Public

uos/.github's past year of commit activity

0 0 0 0 Updated Apr 5, 2026