Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. Libraries include SLAM solutions, 3D(6D) geometry, 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 Stereo camera calibration, dataset inspection, and much more.
- Download the latest unstable code with:
git clone https://github.com/MRPT/mrpt.git --depth 1 - Ask questions at: this Google group or at stackoverflow (please, use the tag
mrpt!) - Main project website, including sources and Windows installer downloads
- C++ API reference
- ROS packages:
mrpt_navigation,mrpt_slam - Bindings documentation (Python, Matlab)
- Source code for dozens of examples
- Example configuration files for MRPT applications can be found at: MRPT/share/mrpt/config_files
- Some sample datasets are stored in: MRPT/share/mrpt/datasets. A more complete dataset repository is available online.
- How to contribute with your code for new feaures, bug fixes, etc.
- MRPT is used in the MOLA modular SLAM framework.
See 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:
- Ubuntu 18.04 LTS (Bionic), Ubuntu 20.04 LTS (Focal), or newer.
See build documentation (source).
Executables (.exes and .dlls) and development libraries (.hs and .libs) 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-mrpt2mrpt2 status in ROS build farms:
| Distro | develop branch |
Stable release |
|---|---|---|
| ROS1 Noetic @ u20.04 | ||
| ROS2 Rolling @ u22.04 |
MRPT is released under the new BSD license.
