Mobile Robot Programming Toolkit

Two decades of open-source robotics — since 2005

Documentation · Tutorials · API Reference · Examples · Applications

What is 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.

MRPT demo

Key capabilities

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

Getting started

Install from ROS repositories

# ROS 1 (deprecated)
sudo apt install ros-$ROS_DISTRO-mrpt2

# ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt-*

ROS2 build status for mrpt3

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 status per package, distro, OS and architecture:

| Package | ROS 2 Humble
BinBuild | ROS 2 Jazzy
BinBuild | ROS 2 Kilted
BinBuild | ROS 2 Lyrical
BinBuild | ROS 2 Rolling
BinBuild | | --- | --- | --- | --- | --- | --- | | 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_data |
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| | mrpt_expr |
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| | mrpt_math |
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| | mrpt_poses |
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| | mrpt_tfest |
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| | mrpt_bayes |
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| | mrpt_obs |
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| | mrpt_topography |
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| | mrpt_maps |
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| | mrpt_graphs |
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| | mrpt_opengl |
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| | mrpt_img |
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| | mrpt_viz |
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| | mrpt_imgui |
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| | mrpt_imgui_vendor |
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| | mrpt_gui |
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| | mrpt_nav |
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| | mrpt_kinematics |
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| | mrpt_slam |
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| | mrpt_graphslam |
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| | mrpt_hwdrivers |
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| | mrpt_common |
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| | mrpt_comms |
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| | mrpt_libapps_cli |
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| | mrpt_libapps_gui |
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| | mrpt_apps_cli |
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| | mrpt_apps_gui |
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[ Build Status ](https://build.ros2.org/