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https://github.com/mrpt/mrpt
:zap: The Mobile Robot Programming Toolkit (MRPT)
https://github.com/mrpt/mrpt
autonomous-driving c-plus-plus computer-vision maps mobile-robotics mobile-robots mrpt particle-filter robot-framework robot-motion-estimate robot-programming robotics slam
Last synced: about 2 months ago
JSON representation
:zap: The Mobile Robot Programming Toolkit (MRPT)
- Host: GitHub
- URL: https://github.com/mrpt/mrpt
- Owner: MRPT
- License: bsd-3-clause
- Created: 2013-10-19T21:09:23.000Z (over 10 years ago)
- Default Branch: develop
- Last Pushed: 2024-04-25T14:49:59.000Z (about 2 months ago)
- Last Synced: 2024-04-30T17:07:31.488Z (about 2 months ago)
- Topics: autonomous-driving, c-plus-plus, computer-vision, maps, mobile-robotics, mobile-robots, mrpt, particle-filter, robot-framework, robot-motion-estimate, robot-programming, robotics, slam
- Language: C++
- Homepage: https://docs.mrpt.org/reference/latest/
- Size: 284 MB
- Stars: 1,858
- Watchers: 115
- Forks: 622
- Open Issues: 31
-
Metadata Files:
- Readme: README.md
- Contributing: .github/CONTRIBUTING.md
- License: COPYING
- Authors: AUTHORS
Lists
- awesome-cpp - mrpt-serialization - Versioned serialization to binary or text formats. [BSD] [website](https://docs.mrpt.org/reference/latest/group_mrpt_serialization_grp.html) (Serialization)
README
The MRPT project
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://gitpod.io/#https://github.com/MRPT/mrpt)
## 1. Introduction
Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers
in mobile robotics and computer vision. Libraries include [SLAM solutions](https://www.mrpt.org/List_of_SLAM_algorithms), [2D and 3D spatial transformations](https://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf),
[probability density functions (pdfs)](https://docs.mrpt.org/reference/latest/class_mrpt_math_CProbabilityDensityFunction.html) over points, landmarks, poses and maps,
Bayesian inference ([Kalman filters](https://www.mrpt.org/Kalman_Filters), [particle filters](https://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](https://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](https://www.mrpt.org/Obstacle_avoidance), [etc](https://docs.mrpt.org/reference/latest/modules.html).
MRPT also provides GUI apps for [camera calibration](https://docs.mrpt.org/reference/latest/app_camera-calib.html), [dataset inspection](https://docs.mrpt.org/reference/latest/app_RawLogViewer.html),
and [much more](https://docs.mrpt.org/reference/latest/applications.html).
## 2. Resources
* Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --recursive`
* Ask questions at [stackoverflow](https://stackoverflow.com/search?q=mrpt) (use the tag `mrpt`)
* [Main project website](https://www.mrpt.org/), including [sources and Windows installer downloads](https://www.mrpt.org/download-mrpt/)
* [C++ API reference](https://docs.mrpt.org/reference/)
* [ROS packages](https://docs.mrpt.org/reference/latest/wrappers.html#mrpt-ros-packages)
* [Bindings documentation](https://github.com/MRPT/mrpt/wiki) (Python, Matlab)
* Source code for [dozens of examples](https://docs.mrpt.org/reference/latest/examples.html)
* Example configuration files for MRPT applications can be found at:
[MRPT/share/mrpt/config_files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files)
* Some sample datasets are stored in:
[MRPT/share/mrpt/datasets](https://github.com/MRPT/mrpt/tree/master/share/mrpt/datasets).
A more complete dataset repository is [available online](https://www.mrpt.org/robotics_datasets).
* [How to contribute](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) with your code for new feaures, bug fixes, etc.
* MRPT is used in the [MOLA modular SLAM framework](https://github.com/MOLAorg/mola/).
## 3. Install
### 3.1. Ubuntu/Debian
Install simply with `sudo apt install libmrpt-dev mrpt-apps`, but check first what MRPT version exists in your [Ubuntu](https://packages.ubuntu.com/search?keywords=mrpt&searchon=sourcenames) or [Debian](https://qa.debian.org/madison.php?package=mrpt) ([tracker](https://tracker.debian.org/pkg/mrpt)) distribution.
If you want a more recent version, check out [this PPA](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt) for nightly builds from the `develop` branch, or [this one](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt-stable) 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](https://docs.mrpt.org/reference/latest/compiling.html) ([source](doc/source/compiling.rst)).
### 3.3. Windows precompiled versions
Executables (`.exe`s and `.dll`s) and development libraries (`.h`s and `.lib`s) included:
[Nightly built Windows installer](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
### 3.4. As a ROS1/ROS2 package
MRPT is also shipped as a ros1 & ros2 package named `mrpt2`, so it can be installed via:
```bash
sudo apt install ros-$ROS_DISTRO-mrpt2
```
`mrpt2` status in ROS build farms:
| Distro | `develop` branch | Stable release | Next builds |
|---|---|---|---|
| ROS1 Noetic @ u20.04 | [](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
| ROS2 Humble @ u22.04 | [](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros2.org/job/Hbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) |
| ROS2 Iron @ u22.04 | [](https://build.ros2.org/job/Idev__mrpt2__ubuntu_jammy_amd64/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros2.org/job/Ibin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) |
| ROS2 Rolling @ u22.04 | [](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) |
| EOL Distro | Last release |
|---|---|
| ROS1 Melodic @ u18.04 | [](https://index.ros.org/search/?term=mrpt2) |
| ROS2 Foxy @ u20.04 | [](https://index.ros.org/search/?term=mrpt2) |
## 4. License
MRPT is released under the [new BSD license](http://www.mrpt.org/License/).
**Contributors**
## 5. Versions in repositories
