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'''WARNING''': This wiki refers to the obsolete ROS 1 mrpt_navigation package.
The documentation for the latest ROS 2 versions is here: https://github.com/mrpt-ros-pkg/mrpt_navigation/

<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

=== Get from apt packages ===
*Note*: Only available in indigo or newer ROS distributions. In older versions, just build the package from sources as explained below.

{{{
# This will install all packages in the mrpt_navigation metapackage
# Alternatively, install individual packages only as you need them
sudo apt-get install ros-$ROS_DISTRO-mrpt-navigation
}}}
=== Build from sources ===
1. Make sure [[http://www.ros.org|ROS]] is installed in your system!

2. Make sure to have [[http://www.mrpt.org|MRPT]] compiled or installed in your system. '''Choose one''' of the following:

 * Install MRPT from official Debian / Ubuntu repositories:
 {{{
    sudo apt-get install libmrpt-dev
}}}
 * Install the latest MRPT version from [[http://www.mrpt.org/MRPT_in_GNU/Linux_repositories|PPA repositories]].
 * Compile MRPT from sources (see [[https://www.mrpt.org/Building_and_Installing_Instructions|instructions]]) and either install in system with `sudo make install` or add this to your `~/.bashrc` for CMake to easily find it:
 {{{
    export MRPT_DIR=YOUR_MRPT_BUILD_DIR
}}}

3. Make sure to be familiar with ROS' [[http://wiki.ros.org/catkin|catkin build system]]!

 * [[http://wiki.ros.org/catkin/Tutorials|Oficial tutorials]]
 * [[http://jbohren.com/articles/gentle-catkin-intro/|J.Bohren's tutorial]]

4. Clone this repository in your catkin workspace (you may have to switch to the corresponding branch according to your ROS distro):

{{{
cd <your_catkin_ws>/src
git clone https://github.com/mrpt-ros-pkg/mrpt_navigation.git
cd ..
#rosdep install --from-paths src --ignore-src --rosdistro indigo # Only if you want MRPT to be installed from Ubuntu repos
catkin_make
}}}
5. You can run unit tests:

{{{
 catkin_make run_tests # to execute the gtests
}}}
6. For ROS to find these packages, read the catkin documentation and run (or add to your `~/.bashrc`):

{{{
source <your_catkin_ws>/devel/setup.bash
}}}
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