mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
kilted

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

CONTRIBUTING

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

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

CONTRIBUTING

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

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
iron

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

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.

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

CONTRIBUTING

mrpt_ros repository

mrpt_apps mrpt_libapps mrpt_libbase mrpt_libgui mrpt_libhwdrivers mrpt_libmaps mrpt_libmath mrpt_libnav mrpt_libobs mrpt_libopengl mrpt_libposes mrpt_libslam mrpt_libtclap

ROS Distro
noetic

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-12
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_apps	2.15.18
mrpt_libapps	2.15.18
mrpt_libbase	2.15.18
mrpt_libgui	2.15.18
mrpt_libhwdrivers	2.15.18
mrpt_libmaps	2.15.18
mrpt_libmath	2.15.18
mrpt_libnav	2.15.18
mrpt_libobs	2.15.18
mrpt_libopengl	2.15.18
mrpt_libposes	2.15.18
mrpt_libslam	2.15.18
mrpt_libtclap	2.15.18

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last Release
ROS 1 Noetic @ u20.04
ROS 2 Iron (u22.04)

DEPRECATED: Move to `mrpt3` as of May-2026

mrpt-ros

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

Starting with MRPT 3.0, the upstream MRPT/mrpt repository is itself a colcon-friendly multi-package workspace, so the mrpt_ros wrapper is no longer needed. Downstream ROS 2 packages should depend directly on the native mrpt_<module> packages shipped by MRPT 3.x.

Package names do not collide: this old wrapper (mrpt_ros) uses the mrpt_lib* family, while MRPT 3.x exposes one ROS package per C++ module (mrpt_core, mrpt_math, …).

1. `package.xml` — dependency renaming

Replace every <depend>mrpt_lib*</depend> with the fine-grained module(s) actually used:

`mrpt_ros` (2.x)	MRPT 3.x native packages
`mrpt_libbase`	`mrpt_io`, `mrpt_serialization`, `mrpt_system`, `mrpt_rtti`, `mrpt_containers`, `mrpt_typemeta`, `mrpt_random`, `mrpt_config`, `mrpt_expr`
`mrpt_libmath`	`mrpt_math`
`mrpt_libposes`	`mrpt_poses` (+ `mrpt_tfest`, `mrpt_bayes` if used)
`mrpt_libobs`	`mrpt_obs` (+ `mrpt_topography` if used)
`mrpt_libmaps`	`mrpt_maps` (+ `mrpt_graphs` if used)
`mrpt_libopengl`	`mrpt_opengl` (+ `mrpt_img`)
`mrpt_libgui`	`mrpt_gui`
`mrpt_libnav`	`mrpt_nav` (+ `mrpt_kinematics`)
`mrpt_libslam`	`mrpt_slam` (+ `mrpt_vision`)
`mrpt_libhwdrivers`	`mrpt_hwdrivers` (+ `mrpt_comms`)
`mrpt_libapps`	`mrpt_libapps_cli`, `mrpt_libapps_gui`
`mrpt_apps`	`mrpt_apps_cli` / `mrpt_apps_gui`
`mrpt_libtclap`	Removed, see below. Migrate the CLI parsing in user code to CLI11 (`cli11-dev` on Ubuntu/Debian) or an equivalent (e.g. `argparse`, `cxxopts`).
`python_mrpt`	Removed: Each package now has its own pybind11-bindings.

Example diff for a typical downstream package:

 <package format="3">
   <name>my_ros_node</name>
   ...
-  <depend>mrpt_libmath</depend>
-  <depend>mrpt_libposes</depend>
-  <depend>mrpt_libmaps</depend>
-  <depend>mrpt_libtclap</depend>
+  <depend>mrpt_math</depend>
+  <depend>mrpt_poses</depend>
+  <depend>mrpt_maps</depend>
+  <depend>cli11</depend>   <!-- replaces the dropped mrpt_libtclap; pick your preferred CLI lib -->
 </package>

2. `CMakeLists.txt` — `find_package` and target renaming

In MRPT 3.x, the CMake package names use underscores (matching the ROS package names) and the exported imported targets are mrpt::mrpt_<module> (not mrpt::<module>):

-find_package(mrpt-math   REQUIRED)
-find_package(mrpt-poses  REQUIRED)
-find_package(mrpt-maps   REQUIRED)
-find_package(mrpt-tclap  REQUIRED)
+find_package(mrpt_math   REQUIRED)
+find_package(mrpt_poses  REQUIRED)
+find_package(mrpt_maps   REQUIRED)
+find_package(CLI11       REQUIRED)    # or argparse / cxxopts

 add_executable(my_node src/main.cpp)
 target_link_libraries(my_node PRIVATE
-  mrpt::math
-  mrpt::poses
-  mrpt::maps
-  mrpt::tclap
+  mrpt::mrpt_math
+  mrpt::mrpt_poses
+  mrpt::mrpt_maps
+  CLI11::CLI11
 )

The mechanical rules are:

find_package(mrpt-<X>) → find_package(mrpt_<X>)
mrpt::<X> → mrpt::mrpt_<X>

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

MRPT 3.x no longer vendors TCLAP. Downstream code that parsed command-line arguments via

File truncated at 100 lines see the full file

mrpt_ros repository

ROS Distrohumble

Repository Summary

Packages

README

DEPRECATED: Move to mrpt3 as of May-2026

mrpt-ros

Migration guide: mrpt_ros (MRPT 2.x) → native MRPT 3.x packages

1. package.xml — dependency renaming

2. CMakeLists.txt — find_package and target renaming

3. Dropped: mrpt-tclap / mrpt_libtclap

CONTRIBUTING

mrpt_ros repository

ROS Distrojazzy

Repository Summary

Packages

README

DEPRECATED: Move to mrpt3 as of May-2026

mrpt-ros

Migration guide: mrpt_ros (MRPT 2.x) → native MRPT 3.x packages

1. package.xml — dependency renaming

2. CMakeLists.txt — find_package and target renaming

3. Dropped: mrpt-tclap / mrpt_libtclap

CONTRIBUTING

mrpt_ros repository

ROS Distrokilted

Repository Summary

Packages

README

DEPRECATED: Move to mrpt3 as of May-2026

mrpt-ros

Migration guide: mrpt_ros (MRPT 2.x) → native MRPT 3.x packages

1. package.xml — dependency renaming

2. CMakeLists.txt — find_package and target renaming

3. Dropped: mrpt-tclap / mrpt_libtclap

CONTRIBUTING

mrpt_ros repository

ROS Distrorolling

Repository Summary

Packages

README

DEPRECATED: Move to mrpt3 as of May-2026

mrpt-ros

Migration guide: mrpt_ros (MRPT 2.x) → native MRPT 3.x packages

1. package.xml — dependency renaming

2. CMakeLists.txt — find_package and target renaming

3. Dropped: mrpt-tclap / mrpt_libtclap

CONTRIBUTING

mrpt_ros repository

ROS Distrohumble

Repository Summary

Packages

README

DEPRECATED: Move to mrpt3 as of May-2026

mrpt-ros

Migration guide: mrpt_ros (MRPT 2.x) → native MRPT 3.x packages

1. package.xml — dependency renaming

2. CMakeLists.txt — find_package and target renaming

3. Dropped: mrpt-tclap / mrpt_libtclap

CONTRIBUTING

mrpt_ros repository

ROS Distrohumble

Repository Summary

Packages

README

DEPRECATED: Move to mrpt3 as of May-2026

mrpt-ros

Migration guide: mrpt_ros (MRPT 2.x) → native MRPT 3.x packages

1. package.xml — dependency renaming

2. CMakeLists.txt — find_package and target renaming

3. Dropped: mrpt-tclap / mrpt_libtclap

CONTRIBUTING

mrpt_ros repository

ROS Distrohumble

Repository Summary

Packages

README

DEPRECATED: Move to mrpt3 as of May-2026

mrpt-ros

Migration guide: mrpt_ros (MRPT 2.x) → native MRPT 3.x packages

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
jazzy

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
kilted

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
rolling

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
iron

DEPRECATED: Move to `mrpt3` as of May-2026

Migration guide: `mrpt_ros` (MRPT 2.x) → native MRPT 3.x packages

1. `package.xml` — dependency renaming

2. `CMakeLists.txt` — `find_package` and target renaming

3. Dropped: `mrpt-tclap` / `mrpt_libtclap`

ROS Distro
humble

DEPRECATED: Move to `mrpt3` as of May-2026