| Distro | Build dev | Stable sync |
|---|---|---|
| ROS 2 Humble (u22.04) |  |
|
| ROS 2 Jazzy (u24.04) |  |
|
| ROS 2 Kilted (u24.04) |  |
|
| ROS 2 Rolling (u24.04) |  |
| EOL Distro | Last version |
|---|---|
| ROS 1 Noetic (u20.04) |  |
ROS 2 wrappers for SLAM algorithms in the Mobile Robot Programming Toolkit (MRPT). Refer to https://wiki.ros.org/mrpt_slam for further documentation.
Active branches:
ros2: Main development branch, for ROS 2 distributions.ros1: Legacy branch for ROS 1 (no further development).
- mrpt_ekf_slam_2d: EKF-based SLAM with range-bearing sensors, 2D robot pose, and 2D landmarks.
- mrpt_ekf_slam_3d: EKF-based SLAM for 3D environments with a full 6D robot pose and 3D landmarks.
- mrpt_icp_slam_2d: ICP scan-matching SLAM for 2D occupancy grid mapping.
- mrpt_rbpf_slam: Rao-Blackwellized Particle Filter SLAM (similar to gmapping, with more sensor support).
- mrpt_graphslam_2d: Graph-SLAM with single-robot and (experimental) multi-robot support.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| mrpt_ekf_slam_2d | ||||
| mrpt_ekf_slam_3d | ||||
| mrpt_icp_slam_2d | ||||
| mrpt_rbpf_slam | ||||
| mrpt_graphslam_2d |
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Code formatting: We use clang-format. Invoke it from the root directory as:
bash clang-formatter.sh
Contributors