No version for distro humble showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jazzy showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt2 repository

ROS Distro
iron

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	master
Last Updated	2026-04-14
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

No packages found.

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

CONTRIBUTING

No version for distro lunar showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing galactic. Known supported distros are highlighted in the buttons above.

mrpt2 repository

mrpt_apps_cli mrpt_apps_gui mrpt_bayes mrpt_common mrpt_comms mrpt_config mrpt_containers mrpt_core mrpt_data mrpt_expr mrpt_graphs mrpt_graphslam mrpt_gui mrpt_hwdrivers mrpt_img mrpt_imgui mrpt_io mrpt_libapps_cli mrpt_libapps_gui mrpt_maps mrpt_math mrpt_nav mrpt_obs mrpt_opengl mrpt_poses mrpt_random mrpt_rtti mrpt_serialization mrpt_slam mrpt_system mrpt_tfest mrpt_topography mrpt_typemeta mrpt_viz mrpt_examples_cpp

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	develop
Last Updated	2026-04-15
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps_cli	2.20.0
mrpt_apps_gui	2.20.0
mrpt_bayes	2.20.0
mrpt_common	2.20.0
mrpt_comms	2.20.0
mrpt_config	2.20.0
mrpt_containers	2.20.0
mrpt_core	2.20.0
mrpt_data	2.20.0
mrpt_expr	2.20.0
mrpt_graphs	2.20.0
mrpt_graphslam	2.20.0
mrpt_gui	2.20.0
mrpt_hwdrivers	2.20.0
mrpt_img	2.20.0
mrpt_imgui	2.20.0
mrpt_io	2.20.0
mrpt_libapps_cli	2.20.0
mrpt_libapps_gui	2.20.0
mrpt_maps	2.20.0
mrpt_math	2.20.0
mrpt_nav	2.20.0
mrpt_obs	2.20.0
mrpt_opengl	2.20.0
mrpt_poses	2.20.0
mrpt_random	2.20.0
mrpt_rtti	2.20.0
mrpt_serialization	2.20.0
mrpt_slam	2.20.0
mrpt_system	2.20.0
mrpt_tfest	2.20.0
mrpt_topography	2.20.0
mrpt_typemeta	2.20.0
mrpt_viz	2.20.0
mrpt_examples_cpp	2.20.0

README

# Mobile Robot Programming Toolkit **Two decades of open-source robotics — since 2005** [![Linux build](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml) [![macOS build](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml) [![Windows build](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml) [![codecov](https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg)](https://codecov.io/gh/MRPT/mrpt) [![clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [![Latest release](https://img.shields.io/github/release/MRPT/mrpt.svg)](https://github.com/MRPT/mrpt/releases) [![Windows installer](https://img.shields.io/badge/Windows-Installer-orange?logo=Windows)](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) [![DOI](https://zenodo.org/badge/13708826.svg)](https://zenodo.org/doi/10.5281/zenodo.10595286) [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://www.mrpt.org/License/) [**Documentation**](https://docs.mrpt.org/reference/latest/) · [**Tutorials**](https://docs.mrpt.org/reference/latest/tutorials.html) · [**API Reference**](https://docs.mrpt.org/reference/latest/modules.html) · [**Examples**](https://docs.mrpt.org/reference/latest/examples.html) · [**Applications**](https://docs.mrpt.org/reference/latest/applications.html)

What is MRPT?

MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.

MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.

MRPT demo

Key capabilities

Area	What’s included
SLAM	MonteCarlo Localization, RBPF, pose-graph optimization
Geometry	SE(2)/SE(3) Lie groups, rigid body transforms, point clouds
Probabilistic	Kalman filters, particle filters, PDFs over poses & maps
Maps	Occupancy grids, point maps, landmark maps, voxel maps
Sensors	LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, …
Visualization	3-D scene graph (`mrpt::viz`), GUI windows, plot widgets
Navigation	Reactive nav, path planning, PTG-based obstacle avoidance
Python	pybind11 bindings for all major modules

Getting started

Install (Ubuntu/Debian)

sudo apt install libmrpt-dev mrpt-apps

Check your distro version at Ubuntu / Debian. For a more recent build, use the nightly PPA:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt install libmrpt-dev mrpt-apps

Build from source

git clone https://github.com/MRPT/mrpt.git --recursive

See the full build guide for colcon, CMake options, and dependency setup.

Windows

Nightly Windows installer — includes .exe, .dll, .h, and .lib files.

ROS

# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2 — see https://github.com/MRPT/mrpt_ros

Using MRPT 3.0 in your project

```cmake cmake_minimum_required(VERSION 3.16) project(my_robot_app)

find_package(mrpt_poses REQUIRED) find_package(mrpt_maps REQUIRED)

add_executable(my_app main.cpp) target_link_libraries(my_app mrpt::mrpt_poses mrpt::mrpt_maps)

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt2 repository

ROS Distro
noetic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt.git
VCS Type	git
VCS Version	master
Last Updated	2026-04-14
Dev Status	UNMAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

No packages found.

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

mrpt2 repository

ROS Distrogalactic

Repository Summary

Packages

README

What is MRPT?

Key capabilities

Getting started

Install (Ubuntu/Debian)

Build from source

Windows

ROS

Using MRPT 3.0 in your project

CONTRIBUTING

mrpt2 repository

ROS Distrogalactic

Repository Summary

Packages

README

What is MRPT?

Key capabilities

Getting started

Install (Ubuntu/Debian)

Build from source

Windows

ROS

Using MRPT 3.0 in your project

CONTRIBUTING

mrpt2 repository

ROS Distrogalactic

Repository Summary

Packages

README

What is MRPT?

Key capabilities

Getting started

Install (Ubuntu/Debian)

Build from source

Windows

ROS

Using MRPT 3.0 in your project

CONTRIBUTING

mrpt2 repository

ROS Distrogalactic

Repository Summary

Packages

README

What is MRPT?

Key capabilities

Getting started

Install (Ubuntu/Debian)

Build from source

Windows

ROS

Using MRPT 3.0 in your project

CONTRIBUTING

mrpt2 repository

ROS Distrogalactic

Repository Summary

Packages

README

What is MRPT?

Key capabilities

Getting started

Install (Ubuntu/Debian)

Build from source

Windows

ROS

Using MRPT 3.0 in your project

CONTRIBUTING

mrpt2 repository

ROS Distrogalactic

Repository Summary

Packages

README

What is MRPT?

Key capabilities

Getting started

Install (Ubuntu/Debian)

Build from source

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
galactic

ROS Distro
foxy