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⚡ The Mobile Robot Programming Toolkit (MRPT)

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The MRPT project

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1. Introduction

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.

2. Resources

3. Install

Packaging status

3.1. Ubuntu

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.

3.2. Build from sources

See build documentation (source).

3.3. Windows precompiled versions

Executables (.exes and .dlls) and development libraries (.hs and .libs) included:

Nightly built Windows installer

3.4. As a ROS1/ROS2 package

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
ROS1 Noetic @ u20.04 Build Status Build Status
ROS2 Rolling @ u22.04 Build Status Build Status

4. License

MRPT is released under the new BSD license.

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