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mrpt-develop (0, 2023-06-06)
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mrpt-develop\.circleci\check_style.sh (1658, 2023-06-06)
mrpt-develop\.circleci\config.yml (4904, 2023-06-06)
mrpt-develop\.circleci\python_reqs.txt (66, 2023-06-06)
mrpt-develop\.clang-format (4451, 2023-06-06)
mrpt-develop\.codecov.yml (98, 2023-06-06)
mrpt-develop\.editorconfig (64, 2023-06-06)
mrpt-develop\.lgtm.yml (719, 2023-06-06)
mrpt-develop\3rdparty (0, 2023-06-06)
mrpt-develop\3rdparty\CATKIN_IGNORE (0, 2023-06-06)
mrpt-develop\3rdparty\CMakeLists.txt (9647, 2023-06-06)
mrpt-develop\3rdparty\freeglut (0, 2023-06-06)
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mrpt-develop\3rdparty\freeglut\GL\freeglut.h (1245, 2023-06-06)
mrpt-develop\3rdparty\freeglut\GL\freeglut_ext.h (5580, 2023-06-06)
mrpt-develop\3rdparty\freeglut\GL\freeglut_std.h (24375, 2023-06-06)
mrpt-develop\3rdparty\freeglut\GL\glut.h (1215, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_callbacks.c (9939, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_cursor.c (9779, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_display.c (2625, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_ext.c (6450, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_font.c (11456, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_font_data.c (392872, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_gamemode.c (18095, 2023-06-06)
mrpt-develop\3rdparty\freeglut\freeglut_geometry.c (40395, 2023-06-06)
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The MRPT project

[](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml) [](https://gitpod.io/#https://github.com/MRPT/mrpt) ## 1. Introduction Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. Libraries include [SLAM solutions](https://www.mrpt.org/List_of_SLAM_algorithms), [2D and 3D spatial transformations](https://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf), [probability density functions (pdfs)](https://docs.mrpt.org/reference/latest/class_mrpt_math_CProbabilityDensityFunction.html) over points, landmarks, poses and maps, Bayesian inference ([Kalman filters](https://www.mrpt.org/Kalman_Filters), [particle filters](https://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](https://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](https://www.mrpt.org/Obstacle_avoidance), [etc](https://docs.mrpt.org/reference/latest/modules.html). MRPT also provides GUI apps for [camera calibration](https://docs.mrpt.org/reference/latest/app_camera-calib.html), [dataset inspection](https://docs.mrpt.org/reference/latest/app_RawLogViewer.html), and [much more](https://docs.mrpt.org/reference/latest/applications.html). ## 2. Resources * Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --recursive` * Ask questions at: [this Google group](https://www.mrpt.org/forum/) or at [stackoverflow](https://stackoverflow.com/search?q=mrpt) (please, use the tag `mrpt`!) * [Main project website](https://www.mrpt.org/), including [sources and Windows installer downloads](https://www.mrpt.org/download-mrpt/) * [C++ API reference](https://docs.mrpt.org/reference/) * [ROS packages](https://docs.mrpt.org/reference/latest/wrappers.html#mrpt-ros-packages) * [Bindings documentation](https://github.com/MRPT/mrpt/wiki) (Python, Matlab) * Source code for [dozens of examples](https://docs.mrpt.org/reference/latest/examples.html) * Example configuration files for MRPT applications can be found at: [MRPT/share/mrpt/config_files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files) * Some sample datasets are stored in: [MRPT/share/mrpt/datasets](https://github.com/MRPT/mrpt/tree/master/share/mrpt/datasets). A more complete dataset repository is [available online](https://www.mrpt.org/robotics_datasets). * [How to contribute](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) with your code for new feaures, bug fixes, etc. * MRPT is used in the [MOLA modular SLAM framework](https://github.com/MOLAorg/mola/). ## 3. Install ### 3.1. Ubuntu/Debian Install simply with `sudo apt install libmrpt-dev mrpt-apps`, but check first what MRPT version exists in your [Ubuntu](https://packages.ubuntu.com/search?keywords=mrpt&searchon=sourcenames) or [Debian](https://qa.debian.org/madison.php?package=mrpt) ([tracker](https://tracker.debian.org/pkg/mrpt)) distribution. If you want a more recent version, check out [this PPA](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt) for nightly builds from the `develop` branch, or [this one](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt-stable) for stable releases. sudo add-apt-repository ppa:joseluisblancoc/mrpt # develop branch #sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable # master (stable releases) branch sudo apt install libmrpt-dev mrpt-apps Supported distributions: * Ubuntu 18.04 LTS (Bionic), Ubuntu 20.04 LTS (Focal), or newer. ### 3.2. Build from sources See [build documentation](https://docs.mrpt.org/reference/latest/compiling.html) ([source](doc/source/compiling.rst)). ### 3.3. Windows precompiled versions Executables (`.exe`s and `.dll`s) and development libraries (`.h`s and `.lib`s) included: [Nightly built Windows installer](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds) ### 3.4. As a ROS1/ROS2 package MRPT is also shipped as a ros1 & ros2 package named `mrpt2`, so it can be installed via: ```bash sudo apt install ros-$ROS_DISTRO-mrpt2 ``` `mrpt2` status in ROS build farms: | Distro | `develop` branch | Stable release | Next builds | |---|---|---|---| | ROS1 Noetic @ u20.04 | [](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd***/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros.org/job/Nbin_uF***__mrpt2__ubuntu_focal_amd***__binary/) | | ROS2 Humble @ u22.04 | [](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd***/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros2.org/job/Hbin_uJ***__mrpt2__ubuntu_jammy_amd***__binary/) | | ROS2 Iron @ u22.04 | [](https://build.ros2.org/job/Idev__mrpt2__ubuntu_jammy_amd***/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros2.org/job/Ibin_uJ***__mrpt2__ubuntu_jammy_amd***__binary/) | | ROS2 Rolling @ u22.04 | [](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd***/) | [](https://index.ros.org/search/?term=mrpt2) | [](https://build.ros2.org/job/Rbin_uJ***__mrpt2__ubuntu_jammy_amd***__binary/) | | EOL Distro | Last release | |---|---| | ROS1 Melodic @ u18.04 | [](https://index.ros.org/search/?term=mrpt2) | | ROS2 Foxy @ u20.04 | [](https://index.ros.org/search/?term=mrpt2) | ## 4. License MRPT is released under the [new BSD license](http://www.mrpt.org/License/). ## 5. Versions in repositories 

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