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The MRPT project

1. Introduction

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 Stereo camera calibration, dataset inspection, and much more.

2. Resources

• 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
• 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.

3. Install

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 Melodic @ u18.04
ROS1 Noetic @ u20.04
ROS2 Foxy @ u20.04
ROS2 Galactic @ u20.04
ROS2 Humble @ u22.04
ROS2 Rolling @ u22.04

4. License

MRPT is released under the new BSD license.

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