Coupled Layer Architecture for Robotic Autonomy or otherwise known as CLARAty is a collection of that spans over 100K lines of code. And this is on version 0.10. By looking at the capabilities and the scope it covers, this will certainly will grow larger by the time it reaches version 1.0!
With this release, a total of 44 CLARAty modules (~100K lines of code) are now available under the JPL Open Source License. This release is intended to share with the robotics community some of the core robotic modules which were jointly developed with NASA Ames Research Center, Carnegie Mellon, and University of Minnesota. This first release represents about 10% of all CLARAty modules and 30% of the generic modules planned for future release.
CLARAty development was primarily funded by the Mars Technology Program and it serves as the integration environment for the program's rover technology developments.
The first release of its software, version 0.10-beta, is now available publicly at http://claraty.jpl.nasa.gov. Also extensive information as how to download, compile and additional tools needed are available here.