ROS Index
Repository Summary
| Checkout URI | https://github.com/mrpt/mrpt.git |
| VCS Type | git |
| VCS Version | mrpt-1.5 |
| Last Updated | 2020-04-15 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| mrpt1 | 1.5.9 |
README
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, 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
- 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.
3. Install
3.1. Ubuntu PPA
See PPA for branch 1.5:
sudo add-apt-repository ppa:joseluisblancoc/mrpt-1.5
sudo apt-get update
sudo apt-get install libmrpt-dev mrpt-apps
Supported distributions:
- Ubuntu 14.04LTS Trusty.
- Ubuntu 16.04LTS Xenial.
- For more recent versions of Ubuntu, it is recommended to use mrpt>=1.9.9.
3.2. Build from sources
Minimum compiler requisites:
- mrpt >=2.0 (
masterbranch):- Ubuntu 16.04LTS Xenial: default gcc/clang versions
- Windows: Visual Studio 2015/2017.
- mrpt 1.5.* and maintenance
mrpt-1.5branch:- Ubuntu 14.04LTS Trusty: default gcc/clang versions
- Windows: Visual Studio 2012
To build in Debian/Ubuntu follow the steps below. See full build docs online for Windows instructions or to learn all the details.
- Install minimum recommended dependencies:
sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev \
libopencv-dev libeigen3-dev libgtest-dev
- Install additional dependencies to enable all MRPT features:
sudo apt install libftdi-dev freeglut3-dev zlib1g-dev libusb-1.0-0-dev \
libudev-dev libfreenect-dev libdc1394-22-dev libavformat-dev libswscale-dev \
libassimp-dev libjpeg-dev libsuitesparse-dev libpcap-dev liboctomap-dev
- Build with
cmakeas usual:
mkdir build && cd build
cmake ..
make
4. License
MRPT is released under the new BSD license.
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/mrpt/mrpt.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-11-04 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
README
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 camera calibration, dataset inspection, and much more.
2. Resources
- Download the latest unstable code with:
git clone https://github.com/MRPT/mrpt.git --recursive - Ask questions at stackoverflow (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/Debian
Install simply with sudo apt install libmrpt-dev mrpt-apps, but check first what MRPT version exists in your Ubuntu or Debian (tracker) distribution.
If you want a more recent version, check out 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 ROS package
MRPT is also shipped as ROS packages.
For ROS 1:
# (ROS 1 only!)
sudo apt install ros-$ROS_DISTRO-mrpt2
For ROS 2, see instructions and available versions: https://github.com/MRPT/mrpt_ros
4. License
MRPT is released under the new BSD license.
Contributors
5. Versions in repositories
