ROS wrappers for classes and apps in Mobile Robot Programming Toolkit (MRPT).


See also: mrpt_slam.

Summary of packages:

  • mrpt_bridge: C++ functions to convert between common ROS messages and MRPT classes.

  • mrpt_local_obstacles: Construction of a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

  • mrpt_localization: Node for 2D robot localization with a particle-filter and many different kinds of metric global maps. Alternative implementation of amcl.

  • mrpt_map: Node to publish (static, prebuilt) metric maps.

  • mrpt_msgs: Common messages for MRPT packages.

  • mrpt_rawlog: Like rosbag play & rosbag record for datasets in MRPT's Rawlog format.

  • mrpt_reactivenav2d: Pure reactive navigation with TP-Space algorithms.


  • From the repositories:

# This will install all packages in the mrpt_navigation metapackage
# Alternatively, install individual packages only as you need them
sudo apt-get install ros-$ROS_DISTRO-mrpt-navigation

Demo videos



Pure reactive navigation



Getting started

  1. Installing

    Instructions to install and compile this package

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Wiki: mrpt_navigation (last edited 2016-09-02 15:37:56 by Jose Luis Blanco)