<html xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40"><head><meta http-equiv=Content-Type content="text/html; charset=utf-8"><meta name=Generator content="Microsoft Word 15 (filtered medium)"><style><!--
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--></style></head><body lang=EN-US link=blue vlink="#954F72" style='word-wrap:break-word'><div class=WordSection1><p class=MsoNormal>I played around with MRPT a few years ago. I think it’s a good option for folks who need ready to use algorithm implementations (e.g. for laser scan matching) but who find ROS to complex and/or don’t need or want all the communications plumbing that is really half of what makes ROS what it is. </p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><o:p> </o:p></p><div style='mso-element:para-border-div;border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0in 0in 0in'><p class=MsoNormal style='border:none;padding:0in'><b>From: </b><a href="mailto:dprglist@lists.dprg.org">Murray Altheim via DPRGlist</a><br><b>Sent: </b>Tuesday, February 2, 2021 11:58 PM<br><b>To: </b><a href="mailto:dprglist@lists.dprg.org">DPRG</a><br><b>Subject: </b>[Dprglist] MRPT C++ library for SLAM</p></div><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>Strange that I'd run across this a few minutes after our weekly video</p><p class=MsoNormal>meeting, but I while looking for something else I inadvertently found</p><p class=MsoNormal>the libmrpt-nav1.5 as an installable library on Ubuntu 18.04, described as:</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal> The Mobile Robot Programming Toolkit (MRPT) is an extensive,</p><p class=MsoNormal> cross-platform, and open source C++ library aimed to help robotics</p><p class=MsoNormal> researchers to design and implement algorithms in the fields of</p><p class=MsoNormal> Simultaneous Localization and Mapping (SLAM, Graph-SLAM, Bundle</p><p class=MsoNormal> Adjustment), computer vision, and motion planning (obstacle avoidance).</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>If you do a search in the Synaptic Package Manager for MRPT there's a</p><p class=MsoNormal>whole buncha stuff there. mrpt-apps provides:</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal> This package provides a set of console and GUI applications:</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal> - rawlog-grabber: Record datasets from robotic sensors.</p><p class=MsoNormal> - RawLogViewer: Robotic dataset viewer and manipulator.</p><p class=MsoNormal> - ReactiveNavigationDemo: Obstacle avoidance GUI demo.</p><p class=MsoNormal> - SceneViewer3D: GUI viewer of MRPT 3D scenes.</p><p class=MsoNormal> - camera-calib: Interactive camera calibration tool.</p><p class=MsoNormal> - icp-slam</p><p class=MsoNormal> - kf-slam</p><p class=MsoNormal> - graph-slam</p><p class=MsoNormal> - 2d-slam-demo: GUI didactic robotic SLAM demo.</p><p class=MsoNormal> - map-partition</p><p class=MsoNormal> - observations2map: Converts simplemaps into metric maps.</p><p class=MsoNormal> - pf-localization: Particle filter localization (Monte Carlo localization).</p><p class=MsoNormal> - ro-localization</p><p class=MsoNormal> - rbpf-slam: Rao-Blackwellized Particle Filter for SLAM.</p><p class=MsoNormal> - simul-landmarks</p><p class=MsoNormal> - simul-beacons</p><p class=MsoNormal> - simul-gridmap</p><p class=MsoNormal> - GridmapNavSimul</p><p class=MsoNormal> - grid-matching</p><p class=MsoNormal> - rawlog-edit</p><p class=MsoNormal> - navlog-viewer: GUI viewer of navigation logs.</p><p class=MsoNormal> - features-matching: Computer vision demo.</p><p class=MsoNormal> - kinect-icp-slam: Example 3D mapping with Xbox Kinect</p><p class=MsoNormal> - kinect-view: Example 3D mapping with Xbox Kinect</p><p class=MsoNormal> - robotic-arm-kinematics: GUI for design of robot arms with</p><p class=MsoNormal> Denavit-Hartenberg parameters.</p><p class=MsoNormal> - velodyne-view: Live display/grabbing of Velodyne scanners.</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>Wow he says. Perhaps Donna might find this interesting...</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>Cheers,</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>Murray</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>...........................................................................</p><p class=MsoNormal>Murray Altheim <murray18 at altheim dot com> = = ===</p><p class=MsoNormal>http://www.altheim.com/murray/ === ===</p><p class=MsoNormal> = = ===</p><p class=MsoNormal> In the evening</p><p class=MsoNormal> The rice leaves in the garden</p><p class=MsoNormal> Rustle in the autumn wind</p><p class=MsoNormal> That blows through my reed hut.</p><p class=MsoNormal> -- Minamoto no Tsunenobu</p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>_______________________________________________</p><p class=MsoNormal>DPRGlist mailing list</p><p class=MsoNormal>DPRGlist@lists.dprg.org</p><p class=MsoNormal>http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org</p><p class=MsoNormal><o:p> </o:p></p></div></body></html>