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From briefly skimming the MRPT website it looks like they're trying to provide a toolkit that helps with many of the common things you'd like to have mobile robots do. Part of what they're providing is a way to have a mobile robot navigate through the world much like the ROS navigation stack. It doesn't look like they have support for ROS yet, though they are working on it, but once they do MRPT will provide another option for running ROS-based navigation on mobile platforms. Which approach to use will likely depend on your specific application and preferences, I'm not sure there'll be a great rule of when to use one over the other.
Basically I think they are two different frameworks to solve the slam problem. This book explains the approach used by the mrp toolkit and is an excellent reference. Unfortunately the pkg is under construction.
The Nagivation stack instead use the Markov localization method. Another approach is to make good use of the karto pkg, but the benefits depend on the application.
Asked: 2011-07-15 14:30:27 -0500
Seen: 2,495 times
Last updated: Jul 20 '11
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