Mobile Robotics library (mrob) is a framework for implementing robotics research and projects.

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MROB: Mobile Robotics library

The Mobile Robotics library (mrob) is our common framework for implementing our robotics research and projects. It includes a core set of functionalities such as geometric transformations (SE3), factor graphs for general state estimation, optimization, 3D point cloud registration and more to come.

MROB was designed in C++14 with the aim of using it in Python via bindings.

Installation

python -m pip install mrob

Usage

import mrob 
import numpy as np

graph = mrob.FGraph()
R = mrob.geometry.SO3(np.eye(3))
t = np.zeros(3)
pose = mrob.geometry.SE3(R, t)

Examples

You can find more usage examples in python_examples.

Supported platforms

macOS Linux Windows
Version 11+ manylinux2014 Windows2019
Python 3.7-3.10 3.6-3.10 3.6-3.10

License

Apache-2.0 License

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