Robot Operating System (ROS) wrapper packages for the Mobile Robot Programming Toolkit (MRPT) libraries.

Refer to the ROS.org wiki:

• mrpr-ros-pkg
• Stacks:
• mrpt_common
• mrpt_slam
• mrpt_hwdrivers

Note that this package is under development, so only a tiny fraction of the functionality from MRPT libraries is currently (Mar 2012) available as ROS packages.

Compiling

• You'll need MRPT installed in your system (libmrpt-dev, see PPA repository for Ubuntu) or, if you prefer to build MRPT from sources, add this to your ~ /.bashrc (so you don't have to do a make install):

 export PKG_CONFIG_PATH=[YOUR_MRPT_BUILD_DIR]/pkgconfig-no-install:$PKG_CONFIG_PATH

• For ROS to find these packages, append the directory with mrpt-ros-pkg sources to the ROS_PACKAGE_PATH variable. Add this to your ~ /.bashrc:

 export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:[YOUR PATH TO mrpt-ros-pkg/]

• Build as usual with any other ROS package:

 rosmake mrpt_common mrpt_bridge mrpt_slam