Software

Profiles

GitHub: @jlblancoc
Packages: Debian/Ubuntu Developer Profile

Core Robotics Frameworks

MOLA: Modular Optimization and Localization Abstraction

The successor to the SLAM foundations of MRPT, MOLA is a modular, high-performance C++ framework designed for lifelong SLAM, localization, and mapping. It is built to be highly extensible through a plugin-based architecture, and includes a state-of-the-art LiDAR odometry and the mp2p_icp point cloud registration library.

Status: Active / Most Relevant
Documentation: docs.mola-slam.org
Repository: github.com/MOLAorg

MRPT: Mobile Robot Programming Toolkit

A mature, cross-platform C++ library (2005-present) providing developers with a vast collection of algorithms for robotics: SLAM, computer vision, and motion planning.

Highlights: Extensive support for 2D/3D range sensors, probabilistic motion models, and real-time visualization.
Website: www.mrpt.org
Repository: github.com/MRPT

MVSim: Multi-Vehicle Simulator

A lightweight, realistic 2.5D dynamics simulator for wheeled robots and multi-agent research, with simulated LiDARs, cameras and other sensors. Worlds are fully configured via XML files, and it runs standalone, as a ROS 2 node, or embedded in C++/Python applications, including a headless mode for CI pipelines.

Documentation: mvsimulator.readthedocs.io
Repository: github.com/MRPT/mvsim

nanoflann

A header-only C++ library for building KD-trees and running fast nearest neighbor searches on point clouds and other datasets, widely used in robotics, computer graphics, and machine learning.

Repository: github.com/jlblancoc/nanoflann

ROS Ecosystem

I maintain a wide variety of ROS 2 integrations to bridge high-performance C++ backends with the ROS middleware.

MRPT ROS Packages: The official bridge between MRPT and ROS 2, including mrpt_navigation, mrpt_slam and mrpt_sensors.
MOLA and MVSim: Both are available as binary ROS 2 packages.
UAL ARM ROS: Packages specifically for robotic arm control and integration.
GitHub Orgs: github.com/mrpt-ros-pkg | github.com/ual-arm-ros-pkg

Specialized Engineering Organizations

Multibody Dynamics & Simulation (MBDS)

Tools and libraries focused on the simulation of complex mechanical systems and multibody dynamics.

Repository: github.com/MBDS

LibreDAQ: Open Data Acquisition

A collection of projects dedicated to open-source hardware and software interfaces for data acquisition.

Repository: github.com/LibreDAQ

Mechanical Design & Structural Analysis

Open-Beam: Specialized tools for structural and beam analysis. (github.com/open-beam)
Mechplot: A MATLAB library for rendering structures and mechanisms. (github.com/jlblancoc/mechplot)

Developer Tools & Utilities

SuiteSparse-METIS for Windows: A CMake-based build system that enables the use of these powerful sparse matrix libraries in Visual Studio and other CMake-supported IDEs.
RWL (Recursive World Language): A domain-specific language and interpreter for generating vast simulated worlds for SLAM benchmarking.
Eigen: Proud (though minor) contributor to this world-class C++ template library for linear algebra.

Didactic & Historical Projects

A tutorial on SE(3) transformation parameterizations and on-manifold optimization: Technical report on Lie groups for 3D pose estimation, with its LaTeX sources.
Robotics teaching notebooks: Jupyter notebooks used in Robotics courses at UAL.
Mohr 2D GUI: Visualizes a 2D stress tensor and its Mohr's circle.
Maxwell-Boltzmann Simulator: A graphical simulator illustrating the kinetic theory of gases and probability distributions.
Denavit-Hartenberg GUI: A visual tool for learning and teaching robotic arm kinematics, distributed with MRPT.
OpenMORA (2008-2014): A middleware framework based on MOOS and MRPT. This was before ROS took off.
Open-CV Bots: Experimental computer vision programs designed to autonomously play web-based games.
Syncpath: A lightweight, cross-platform CLI tool for directory synchronization and backups.