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JdeRobot, technology that rocks and matters!!

This is the official web page of the JdeRobot project, a software framework for developing applications in robotics, computer vision, home automation and scenarios with sensors, actuators and intelligent software.


  • The last stable release, JdeRobot 5.3.0-RC1, has been released (20151102).
  • We are starting an (online and in-person) Advanced Drone Programming course (Spanish). Three new exercises are included. It starts in november 13th, 2015
  • If you are interested in drones check the Drone Programming Championship (Spanish) we are organizing (spring 2016), and the proposed challenge.
  • JdeRobot attended the Google Summer of Code 2015 mentor summit at Mountain View (november 2015)

Videos of the month

A drone follows a road using its front camera (more) VisualHFSM now generates Python components (more)

(more videos)


JdeRobot is a software development suite for robotics, home-automation and computer vision applications. These domains include sensors (for instance, cameras), actuators, and intelligent software in between. It has been designed to help in programming such intelligent software. It is written in C++ language and provides a distributed component-based programming environment where the application program is made up of a collection of several concurrent asynchronous components. Each component may run in different computers and they are connected using ICE communication middleware. Components may be written in C++, python, Java... and all of them interoperate through explicit ICE interfaces.

JdeRobot simplifies the access to hardware devices from the control program. Getting sensor measurements is as simple as calling a local function, and ordering motor commands as easy as calling another local function. The platform attaches those calls to the remote invocation on the components connected to the sensor or the actuator devices. They can be connected to real sensors and actuators or simulated ones, both locally or remotely using the network. Those functions build the API for the Hardware Abstraction Layer. The robotic application get the sensor readings and order the actuator commands using it to unfold its behavior. Several driver components have been developed to support different physical sensors, actuators and simulators. The drivers are used as components installed at will depending on your configuration. They are included in the official release. Currently supported robots and devices:

  • RGBD sensors: Kinect from Microsoft, Asus Xtion
  • Pioneer robot from MobileRobotics Inc.
  • Kobuki robot (TurtleBot) from Yujin Robot
  • Nao humanoid from Aldebaran
  • ArDrone quadrotor from Parrot
  • Firewire cameras, USB cameras, video files (mpeg, avi...), IP cameras (like Axis)
  • Pantilt unit PTU-D46 from Directed Perception Inc.
  • Laser Scanners: LMS from SICK and URG from Hokuyo
  • EVI PTZ camera from Sony
  • Gazebo and Stage simulators
  • Wiimote
  • X10 home automation devices

JdeRobot includes several robot programming tools and libraries. First, viewers and teleoperators for several robots, its sensors and motors. Second, a camara calibration component and a tunning tool for color filters. Third, VisualHFSM tool for programming robot behavior using hierarchical finite state machines. It includes many sample components using OpenCV, PCL, OpenGL, etc.. In addition, it also provides a library to develop fuzzy controllers, a library for projective geometry and some computer vision processing.

Each component may have its own independent Graphical User Interface or none at all. Currently, GTK and Qt libraries are supported, and several examples of OpenGL for 3D graphics with both libraries are included.

JdeRobot is open-source software, licensed as GPL and LGPL. It also uses third-party software like Gazebo simulator, OpenGL, GTK, Qt, Player, Stage, Gazebo, GSL, OpenCV, PCL, Eigen, Ogre. It is ROS compatible!.


The last stable release is 5.3.

We are working on:

  • Compatibility with ROS robotics middleware: interoperation between ROS nodes and JdeRobot components, use of ROS bag files in recorder and replayer tools...
  • Integrating Web technologies: ICE-JS, WebRTC, html5... Web viewers for our robots.
  • Improving visualHFSM tool: it allows visual programming of the robot intelligence with Finite State Machines. It creates a C++ or a Python component from the visual description of the automata.
  • Improving our on-line manual

JdeRobot License

Gplv3.png All the source code of Jderobot project is licensed under GPL v3.

License.png All the documentation of Jderobot project is licensed under Creative Commons by-sa