:zap: The Mobile Robot Programming Toolkit (MRPT)
MRPT is a well-established C++ framework for mobile robotics, originally developed in 2005 at the University of Málaga and actively maintained to this day. Over the years, contributions from the community have evolved it into a robust, modular toolkit widely used in both academic research and industry.
MRPT 3.0 is a major refactoring that modernises the build system (colcon-based modular packages), cleans up the public API, and aligns with modern C++17 standards while preserving the data structures and algorithms at the core of MRPT.
| Area | What's included |
|---|---|
| SLAM | MonteCarlo Localization, RBPF, pose-graph optimization |
| Geometry | SE(2)/SE(3) Lie groups, rigid body transforms, point clouds |
| Probabilistic | Kalman filters, particle filters, PDFs over poses & maps |
| Maps | Occupancy grids, point maps, landmark maps, voxel maps |
| Sensors | LiDAR, stereo/RGB-D cameras, IMU, GPS, Velodyne, … |
| Visualization | 3-D scene graph (mrpt::viz), GUI windows, plot widgets |
| Navigation | Reactive nav, path planning, PTG-based obstacle avoidance |
| Python | pybind11 bindings for all major modules |
# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2
# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | ||
| ROS 2 Jazzy (u24.04) | ||
| ROS 2 Kilted (u24.04) | ||
| ROS 2 Lyrical (u26.04) | ||
| ROS 2 Rolling (u26.04) |
Binary package build for amd64 and arm64 architectures:
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Lyrical BinBuild |
ROS 2 Rolling BinBuild |
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| mrpt_core | |
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| mrpt_io | |
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| mrpt_serialization | |
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| mrpt_system | |
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| mrpt_rtti | |
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| mrpt_containers | |
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| mrpt_typemeta | |
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| mrpt_random | |
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| mrpt_config | |
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| mrpt_expr | |
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| mrpt_math | |
[](https://build.ros2.org/job/Jbin_ |
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