iTasc: Automatic code generation based on the specification of constraints and tasks. https://www.orocos.org/wiki/orocos/itasc-wiki
IHMC: https://github.com/ihmcrobotics/ihmc-open-robotics-software
https://github.com/fkanehiro/hrpsys-base from the Humanoid Research Group (AIST) using a graph of controllers based on OpenRTM
OpenSoT https://github.com/EnricoMingo/OpenSoT-superbuild
MC_RTC: https://jrl-umi3218.github.io/mc_rtc/
Whole body controller by PAL for Tiago : http://pal-robotics.com/faq-items/tiago-whole-body-control-software/