mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Description	ROS nodes for various robotics sensors via mrpt-hwdrivers
Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-10-17
Dev Status	DEVELOPED
Released	RELEASED
Tags	c-plus-plus robotics ros sensors mrpt
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') File truncated at 100 lines [see the full file](https://github.com/mrpt-ros-pkg/mrpt_sensors/tree/ros2/README.md)

CONTRIBUTING

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Description	ROS nodes for various robotics sensors via mrpt-hwdrivers
Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-10-17
Dev Status	DEVELOPED
Released	RELEASED
Tags	c-plus-plus robotics ros sensors mrpt
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') File truncated at 100 lines [see the full file](https://github.com/mrpt-ros-pkg/mrpt_sensors/tree/ros2/README.md)

CONTRIBUTING

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Description	ROS nodes for various robotics sensors via mrpt-hwdrivers
Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-10-17
Dev Status	DEVELOPED
Released	RELEASED
Tags	c-plus-plus robotics ros sensors mrpt
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') File truncated at 100 lines [see the full file](https://github.com/mrpt-ros-pkg/mrpt_sensors/tree/ros2/README.md)

CONTRIBUTING

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Description	ROS nodes for various robotics sensors via mrpt-hwdrivers
Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-10-17
Dev Status	DEVELOPED
Released	RELEASED
Tags	c-plus-plus robotics ros sensors mrpt
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') File truncated at 100 lines [see the full file](https://github.com/mrpt-ros-pkg/mrpt_sensors/tree/ros2/README.md)

CONTRIBUTING

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt

No version for distro github. Known supported distros are highlighted in the buttons above.

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt

No version for distro galactic. Known supported distros are highlighted in the buttons above.

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Description	ROS nodes for various robotics sensors via mrpt-hwdrivers
Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-10-17
Dev Status	DEVELOPED
Released	RELEASED
Tags	c-plus-plus robotics ros sensors mrpt
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') File truncated at 100 lines [see the full file](https://github.com/mrpt-ros-pkg/mrpt_sensors/tree/ros2/README.md)

CONTRIBUTING

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt mrpt_generic_sensor mrpt_sensorlib mrpt_sensors mrpt_sensors_examples

Repository Summary

Description	ROS nodes for various robotics sensors via mrpt-hwdrivers
Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros1
Last Updated	2024-03-19
Dev Status	DEVELOPED
Released	RELEASED
Tags	c-plus-plus robotics ros sensors mrpt
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_generic_sensor	0.0.4
mrpt_sensorlib	0.0.4
mrpt_sensors	0.0.4
mrpt_sensors_examples	0.0.4

README

Distro	Build dev	Build release	Stable sync
ROS1 Noetic (u20.04)

EOL Distro	Last release
ROS1 Melodic (u18.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers

This branch ros1 will see no further development.

CONTRIBUTING

mrpt_sensors repository

c-plus-plus robotics ros sensors mrpt mrpt_generic_sensor mrpt_sensorlib mrpt_sensors mrpt_sensors_examples

Repository Summary

Description	ROS nodes for various robotics sensors via mrpt-hwdrivers
Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros1
Last Updated	2024-03-19
Dev Status	DEVELOPED
Released	RELEASED
Tags	c-plus-plus robotics ros sensors mrpt
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mrpt_generic_sensor	0.0.4
mrpt_sensorlib	0.0.4
mrpt_sensors	0.0.4
mrpt_sensors_examples	0.0.4

README

Distro	Build dev	Build release	Stable sync
ROS1 Noetic (u20.04)

EOL Distro	Last release
ROS1 Melodic (u18.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers

This branch ros1 will see no further development.

mrpt_sensors repository

Repository Summary

Packages

README

mrpt_sensors

Table of Contents

mrpt_sensor_bumblebee_stereo

CONTRIBUTING

mrpt_sensors repository

Repository Summary

Packages

README

mrpt_sensors

Table of Contents

mrpt_sensor_bumblebee_stereo

CONTRIBUTING

mrpt_sensors repository

Repository Summary

Packages

README

mrpt_sensors

Table of Contents

mrpt_sensor_bumblebee_stereo

CONTRIBUTING

mrpt_sensors repository

Repository Summary

Packages

README

mrpt_sensors

Table of Contents

mrpt_sensor_bumblebee_stereo

CONTRIBUTING

mrpt_sensors repository

mrpt_sensors repository

mrpt_sensors repository

Repository Summary

Packages

README

mrpt_sensors

Table of Contents

mrpt_sensor_bumblebee_stereo

CONTRIBUTING

mrpt_sensors repository

Repository Summary

Packages

README

mrpt_sensors

CONTRIBUTING

mrpt_sensors repository

Repository Summary

Packages

README

mrpt_sensors

CONTRIBUTING

`mrpt_sensor_bumblebee_stereo`

`mrpt_sensor_bumblebee_stereo`

`mrpt_sensor_bumblebee_stereo`

`mrpt_sensor_bumblebee_stereo`

`mrpt_sensor_bumblebee_stereo`