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mrpt_sensors

  • Software
  • Perception
  • Driver or SDK

ROS 2 nodes that read a range of robotics sensors (stereo cameras, GNSS receivers, IMUs, Velodyne lidars) through the mrpt-hwdrivers library and publish their data as ROS messages.

Made by mrpt-ros-pkg.

Source on GitHub: github.com/mrpt-ros-pkg/mrpt_sensors (opens in a new tab). Facts read at commit c4c41bb (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit c4c41bb (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides ROS 2 nodes for Bumblebee stereo cameras, NMEA and Novatel GNSS receivers, Taobotics IMUs and Velodyne lidars.
  • Publishes sensor data as ROS messages, and can also write a .rawlog file with the recorded data.
  • The Novatel node also starts an NTRIP client that forwards RTK corrections to the receiver over a serial port.
  • Each sensor node publishes ROS 2 diagnostics to /diagnostics, with warnings and errors for missing or slow observations.
  • Diagnostic thresholds and retry delay are set with ROS 2 parameters such as diag_startup_timeout and diag_expected_rate.
  • Each sensor package has a launch file, and the launch arguments set the serial ports, frame IDs, rates and sensor pose.

Written by Robotheca from the project's README (opens in a new tab) at commit c4c41bb.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
Bumblebee2 stereo cameras with a FireWire connection; any GPS/GNSS sensor emitting NMEA over a serial or USB port; Novatel OEM6 receivers with a second serial port for NTRIP corrections; Taobotics hfi-b6 or hfi-a9 IMUs on a serial port; Velodyne VLP16, HDL32 or HDL64 lidars.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
15 Oct 2026 on ros2
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.