:zap: The Mobile Robot Programming Toolkit (MRPT)
Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers
in mobile robotics and computer vision. Libraries include SLAM solutions, 2D and 3D spatial transformations, SE(2)/SE(3) Lie groups,
probability density functions (pdfs) over points, landmarks, poses and maps,
Bayesian inference (Kalman filters, particle filters), image processing, obstacle avoidance, etc.
MRPT also provides GUI apps for camera calibration, dataset inspection,
and much more.
git clone https://github.com/MRPT/mrpt.git --recursive
mrpt
)Install simply with sudo apt install libmrpt-dev mrpt-apps
, but check first what MRPT version exists in your Ubuntu or Debian (tracker) distribution.
If you want a more recent version, check out this PPA for nightly builds from the develop
branch, or this one for stable releases.
sudo add-apt-repository ppa:joseluisblancoc/mrpt # develop branch
#sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable # master (stable releases) branch
sudo apt install libmrpt-dev mrpt-apps
Supported distributions:
See build documentation (source).
Executables (.exe
s and .dll
s) and development libraries (.h
s and .lib
s) included:
Nightly built Windows installer
MRPT is also shipped as a ros1 & ros2 package named mrpt2
, so it can be installed via:
sudo apt install ros-$ROS_DISTRO-mrpt2
mrpt2
status in ROS build farms:
Distro | develop branch |
Stable release | Next builds |
---|---|---|---|
ROS1 Noetic @ u20.04 | |||
ROS2 Humble @ u22.04 | |||
ROS2 Iron @ u22.04 | |||
ROS2 Rolling @ u24.04 |
EOL Distro | Last release |
---|---|
ROS1 Melodic @ u18.04 | |
ROS2 Foxy @ u20.04 |
MRPT is released under the new BSD license.
Contributors