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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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<<StackHeader(mrpt_navigation)>>

== Documentation ==
||<style="vertical-align:top">ROS wrappers for classes and apps in Mobile Robot Programming Toolkit ([[http://www.mrpt.org/|MRPT]]). ||<width="140px" style="text-align:center"> {{attachment:mrpt_logo.png}} ||

See also: [[http://wiki.ros.org/mrpt_slam|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 [[http://www.mrpt.org/Rawlog_Format|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]]

<<Youtube(b5glQhT2Zac)>>

=== Pure reactive navigation ===
[[mrpt_reactivenav2d]]

<<Youtube(9iohyHqGc0g)>>


== Tutorials ==
 See [[mrpt_navigation/Tutorials|all tutorials]].

=== Getting started ===
<<TutorialChain(mrpt_navigation/Tutorials/Installing)>>


== Report a Bug ==
<<GitHubIssues(mrpt-ros-pkg/mrpt_navigation)>>

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