ROS Index
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) |  |
|
| ROS 2 Jazzy (u24.04) |  |
|
| ROS 2 Kilted (u24.04) |  |
|
| ROS 2 Lyrical (u26.04) |  |
|
| ROS 2 Rolling (u26.04) |  |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
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| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
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| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-06-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-06-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
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| mrpt_io |
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| mrpt_serialization |
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| mrpt_system |
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| mrpt_rtti |
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| mrpt_containers |
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| mrpt_typemeta |
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| mrpt_random |
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| mrpt_config |
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| mrpt_expr |
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| mrpt_math |
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| mrpt_poses |
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| mrpt_tfest |
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| mrpt_bayes |
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| mrpt_obs |
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| mrpt_topography |
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| mrpt_maps |
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| mrpt_graphs |
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| mrpt_opengl |
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| mrpt_img |
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| mrpt_gui |
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| mrpt_nav |
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| mrpt_kinematics |
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| mrpt_slam |
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File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-06-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| mrpt_apps_cli | 3.0.5 |
| mrpt_apps_gui | 3.0.5 |
| mrpt_bayes | 3.0.5 |
| mrpt_common | 3.0.5 |
| mrpt_comms | 3.0.5 |
| mrpt_config | 3.0.5 |
| mrpt_containers | 3.0.5 |
| mrpt_core | 3.0.5 |
| mrpt_data | 3.0.5 |
| mrpt_expr | 3.0.5 |
| mrpt_graphs | 3.0.5 |
| mrpt_graphslam | 3.0.5 |
| mrpt_gui | 3.0.5 |
| mrpt_hwdrivers | 3.0.5 |
| mrpt_img | 3.0.5 |
| mrpt_imgui | 3.0.5 |
| mrpt_io | 3.0.5 |
| mrpt_kinematics | 3.0.5 |
| mrpt_libapps_cli | 3.0.5 |
| mrpt_libapps_gui | 3.0.5 |
| mrpt_maps | 3.0.5 |
| mrpt_math | 3.0.5 |
| mrpt_nav | 3.0.5 |
| mrpt_obs | 3.0.5 |
| mrpt_opengl | 3.0.5 |
| mrpt_poses | 3.0.5 |
| mrpt_random | 3.0.5 |
| mrpt_rtti | 3.0.5 |
| mrpt_serialization | 3.0.5 |
| mrpt_slam | 3.0.5 |
| mrpt_system | 3.0.5 |
| mrpt_tfest | 3.0.5 |
| mrpt_topography | 3.0.5 |
| mrpt_typemeta | 3.0.5 |
| mrpt_viz | 3.0.5 |
| mrpt_examples_cpp | 3.0.5 |
README
# Mobile Robot Programming Toolkit
**Two decades of open-source robotics — since 2005**
[](https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml)
[](https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml)
[](https://codecov.io/gh/MRPT/mrpt)
[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)
[](https://github.com/MRPT/mrpt/releases)
[](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
[](https://zenodo.org/doi/10.5281/zenodo.10595286)
[](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.
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 from ROS repositories
# ROS 1
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*
ROS2 build status for mrpt3
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Lyrical (u26.04) | |
|
| ROS 2 Rolling (u26.04) | |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|---|
| mrpt_core |
|
|
|
|
|
| mrpt_io |
|
|
|
|
|
| mrpt_serialization |
|
|
|
|
|
| mrpt_system |
|
|
|
|
|
| mrpt_rtti |
|
|
|
|
|
| mrpt_containers |
|
|
|
|
|
| mrpt_typemeta |
|
|
|
|
|
| mrpt_random |
|
|
|
|
|
| mrpt_config |
|
|
|
|
|
| mrpt_expr |
|
|
|
|
|
| mrpt_math |
|
|
|
|
|
| mrpt_poses |
|
|
|
|
|
| mrpt_tfest |
|
|
|
|
|
| mrpt_bayes |
|
|
|
|
|
| mrpt_obs |
|
|
|
|
|
| mrpt_topography |
|
|
|
|
|
| mrpt_maps |
|
|
|
|
|
| mrpt_graphs |
|
|
|
|
|
| mrpt_opengl |
|
|
|
|
|
| mrpt_img |
|
|
|
|
|
| mrpt_gui |
|
|
|
|
|
| mrpt_nav |
|
|
|
|
|
| mrpt_kinematics |
|
|
|
|
|
| mrpt_slam |
|
|
|
|
|
File truncated at 100 lines see the full file