The following ROS packages are provided wrapping MRPT functionality:
- MRPT libraries and pymrpt: - ROS 1: mrpt2 - ROS 2: See instructions in: https://github.com/MRPT/mrpt_ros
- mrpt_msgs: ROS messages for MRPT classes and objects
- mrpt_navigation: Reactive autonomous navigation algorithms.
- mrpt_sensors: Reading from diverse sensors (:ref:`supported-sensors`).
- mrpt_slam: Basic 2D and 3D SLAM algorithms.
- pose_cov_ops: SE(2) and SE(3) pose probability density function manipulation library.
All MRPT libraries are wrapped into one single Python3 module pymrpt. See:
- pydoc reference documentation for pymrpt: https://mrpt.github.io/pymrpt-docs/mrpt.pymrpt.mrpt.html
- MRPT Python examples
Part of MRPT can be compiled into a .mex file and used directly from MATLAB. Read more here.