odrivet

odrivet is an open-source software framework and hardware ecosystem designed to standardize drive control and odometry for autonomous robots and embedded platforms. It provides a unified interface for motor controllers, encoders, and pose sensors, enabling developers to implement motion planning and closed-loop control without vendor-specific integration.

The framework comprises a modular driver layer, a transport layer for communication with devices, and a higher-level API for velocity, acceleration, and torque commands. It supports multiple communication buses such as CAN, UART, and SPI, and offers pluggable motor controllers and odometry sensors. The odometry module fuses encoder data with inertial measurements to estimate robot pose in real time. The project includes tooling for logging, replay, and simulation to aid development and testing.

odrivet is primarily written in C++ with bindings for Python and other languages to facilitate rapid prototyping. It emphasizes portability across Linux-based embedded systems and desktop environments and is designed with real-time control constraints in mind. The software is distributed under an open-source license, with a growing community of contributors and users.

Originating in academic and maker communities in the 2010s, odrivet has been adopted by hobbyist robotics teams, research groups, and open-hardware projects seeking a vendor-neutral control stack. Its design aims to reduce integration effort for robotics platforms and to promote interoperability among devices from different manufacturers.

See also: Odometry, Motor control, Robotic operating system, Open-source hardware, Real-time control.