This page contains a list of supported sensors, along example configuration blocks for those based on the CGenericSensor interface. All hardware and sensor-related classes can be found in the mrpt-hwdrivers library, which contains the mrpt::hwdrivers namespace. See also the rawlog-grabber application. Unless specifically noted, all devices are supported under both Windows and Linux, with only some (for now) supported on MacOS.
The C++ interface is implemented in the class mrpt::hwdrivers::CSwissRanger3DCamera. See the page of the demo application for more information and a demo video. Manufacturer web site: http://www.mesa-imaging.ch/prodview4k.php
SICK LMS2XX laser scanners are supported by the class mrpt::hwdrivers::CSickLaserSerial, which supports a wide variety of configurations (different aperture angles, 0.25/0.50/1.0 degrees separation between rays,...) and operating baud rates, including 500Kbauds for the USB2SERIAL converters that allow that configuration (based on FTDI chips).
SICK LMS 100 laser scanners with Ethernet interface are supported by the class mrpt::hwdrivers::CLMS100Eth.
A wide range of Hokuyo laser scanners are supported by one single class, the mrpt::hwdrivers::CHokuyoURG. See also the example named HOKUYO_laser_test.
See the manufacturer website: http://www.hokuyo-aut.jp/
Ibeo LUX laser scanner, Ethernet-interfaced, is supported since MRPT 0.9.4 through the class mrpt::hwdrivers::CIbeoLuxETH.
See the manufacturer website: http://www.ibeo-as.com/index.php?option=com_content&view=article&id=66&I...
Important: MRPT provides a universal class capable of managing all the following cameras with a common interface, deciding which camera to open at runtime and converting the images from all the cameras to one single format, the OpenCV IplImage format. See the class mrpt::hwdrivers::CCameraSensor.
MRPT can access monocular USB or firewire cameras by means of two ways:
Bumblebee stereo cameras are supported in MRPT in both Windows & GNU/Linux by means of the manufacturer API and the libdc1394 libraries, respectively. The C++ interface is the same in any case, and it's implemented in the class mrpt::hwdrivers::CStereoGrabber_Bumblebee.
Videre stereo cameras are supported in MRPT (since MRPT 0.9.1) for GNU/Linux only for now, by means of the manufacturer SVS API. The C++ interface is implemented in the class mrpt::hwdrivers::CStereoGrabber_SVS.
Both IP cameras and offline video files (in many common video formats and codecs) are supported by means of the ffmpeg libraries, within the MRPT class mrpt::hwdrivers::CFFMPEG_InputStream.
The interface to this sensor is implemented in the class mrpt::hwdrivers::CIMUXSens.
A precise fiber optic gyro. The interface to this sensor is implemented in the class mrpt::hwdrivers::CGyroKVHDSP3000.
See the manufacturer website: http://www.kvh.com/.../Fiber-Optic-Gyros/DSP-3000.aspx
An implementation of a parser of GGA, and other NMEA commands from a wide range of GPS devices can be found in the class mrpt::hwdrivers::CGPSInterface.
You can use advanced RTK GPS receivers with MRPT. For that, MRPT includes a class that receives NTRIP RTK corrections from an Internet server and sends them to a serial port connected to the GPS receiver. See mrpt::hwdrivers::CNTRIPEmitter.
Access to all ARIA-based mobile robotic bases is done via the C++ class mrpt::hwdrivers::CActivMediaRobotBase, which implements basic mobility functions as well as sonars and other sensors. Since MRPT carries its own embedded version of ARIA, you won't need any software or library previously installed in your system to use this class.
An interface to this mobile robot, equipped with an IP camera, is implemented in the C++ class mrpt::hwdrivers::CRovio.
See the manufacturer web: http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio
A cross-platform and very simple interface to joysticks is provided via the class mrpt::hwdrivers::CJoystick.
An interface to this PTU model is implemented in the C++ class mrpt::hwdrivers::CPtuDPerception.
An interface to the precision "rotation stage DT-80", by MICOS. See the C++ class mrpt::hwdrivers::CTuMicos.
See the manufacturer website: http://www.micos-online.com/web2/en/1,5,120,dt80.html
This sensor is supported by the MRPT class mrpt::hwdrivers::CImpinfRFID. Note however that this sensor requires an external program outside of MRPT for communications (refer to the Doxygen documentation of the C++ class).
See the specifications of the sensor in: http://www.impinj.com/Speedway_Revolution_Reader.aspx
Phidgets Inc.'s board "PhidgetInterfaceKit 8/8/8" is supported by class mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors.
Manufacturer web: http://www.phidgets.com/products.php?product_id=1018
Note: Since MRPT 0.9.2
This SPI/I2C USB board is supported by class XXX
Manufacturer web: http://sine.ni.com/psp/app/doc/p/id/psp-318/
Note: Since MRPT 1.0.0
This sensor for fast detection of volatile organic compounds (VOC) is supported by the software driver C++ class mrpt::hwdrivers::CRaePID
Manufacturer web: http://www.raesystems.com/products/minirae-lite
Note: Since MRPT 0.9.6