Repo symbol

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

Repo symbol

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

Repo symbol

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
kilted

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

Repo symbol

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

Repo symbol

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
iron

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

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

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file

Repo symbol

mrpt_path_planning repository

mrpt_path_planning

ROS Distro
noetic

Repository Summary

Checkout URI https://github.com/MRPT/mrpt_path_planning.git
VCS Type git
VCS Version develop
Last Updated 2025-07-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrpt_path_planning 0.2.2

README

CI Linux Documentation Status

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Kilted @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL Distro Last version
ROS 1 Noetic (u20.04) Version
ROS 2 Iron (u22.04) Version

Build requisites

  • MRPT (>=2.12.0)
  • mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

```

Holonomic robot:

build-Release/bin/selfdriving-simulator-gui
–waypoints share/mvsim-demo-waypoints01.yaml
-s share/mvsim-demo.xml
-p share/ptgs_holonomic_robot.ini
–nav-engine-parameters share/nav-engine-params.yaml
–planner-parameters share/mvsim-demo-astar-planner-params.yaml
–prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml
–global-costmap-parameters share/costmap-obstacles.yaml
–local-costmap-parameters share/costmap-obstacles.yaml
-v DEBUG

Ackermann vehicle:

build-Release/bin/selfdriving-simulator-gui \

File truncated at 100 lines see the full file