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WARNING: This wiki refers to the obsolete ROS 1 mrpt_navigation package. The documentation for the latest ROS 2 versions is here: https://github.com/mrpt-ros-pkg/mrpt_navigation/

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Documentation

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.

Installing

• 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

• From sources: Read mrpt_navigation/Tutorials/Installing.

Demo videos

Localization

mrpt_localization

Pure reactive navigation

mrpt_reactivenav2d

Tutorials

• See all tutorials.

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]