Distro	Build dev	Build release	Stable sync
ROS 2 Humble (u22.04)		TBD
ROS 2 Iron (u22.04)		TBD
ROS 2 Rolling (u22.04)		TBD

mrpt_navigation

This repository provides packages that wrap functionality in the Mobile Robot Programming Toolkit (MRPT) related to localization and navigation. SLAM and sensor access are wrapped into other ROS repositories.

Documentation for each package

• mrpt_local_obstacles: A node that maintains a local obstacle map.
• mrpt_pf_localization: A node for particle filter-based localization of a robot from any kind of metric map (gridmap, points, range-only sensors, ...).
• mrpt_map: A node that loads a ROS standard gridmap or an MRPT map and publishes it to a topic.
• ...

General documentation

• ROS wiki: http://wiki.ros.org/mrpt_navigation
• Compiling instructions: http://wiki.ros.org/mrpt_navigation/Tutorials/Installing
• Usage examples and tutorials: http://wiki.ros.org/mrpt_navigation/Tutorials
• Branches:
  • ros2: The most recent, active branch for modern ROS 2 distributions.
  • ros1: Intended for ROS 1. No further development will happen there.

Contributing

• Code formatting: We use clang-format to ensure formatting consistency in the code base. Set up your IDE to automatically use clang-format-11, use git clang-format-11, or invoke it manually from the root directory as:

  find . -iname *.hpp -o -iname *.cpp -o -iname *.h | xargs clang-format-11 -i

Contributors