Here's some exciting news for robotics' enthusiasts. NASA has released its frame-work for robotics software to open-source. In a release on the Robotics JPL website, it said about 44 modules (or around approx. 100 thousand lines of code) are available for almost anyone to download.
The software is called CLARAty (short for Coupled LAyer Architecture for robotics AnatomY) and can be downloaded here.