Supported hardware and sensors

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.

1. 3D range cameras


1.1. SwissRanger SR3000/4000

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: 

kinect11.2. Xbox Kinect (RGB+D camera)

The C++ interface is implemented in the class mrpt::hwdrivers::CKinect. See this page for more information, demo videos and example code.

kinect11.3. Any 3D camera supported by OpenNI2

The C++ interface is implemented in the class mrpt::hwdrivers::OpenNI2Sensor.

2. 2D laser scanners

SickLMS2002.1. SICK LMS 2XX

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_LMS1002.2. SICK LMS 100 (Ethernet)

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, themrpt::hwdrivers::CHokuyoURG. See also the example named HOKUYO_laser_test.

See the manufacturer website: 

ibeo_Lux_scanner2.4. Ibeo Automotive Laser Scanners

Ibeo LUX laser scanner, Ethernet-interfaced, is supported since MRPT 0.9.4 through the class mrpt::hwdrivers::CIbeoLuxETH.

See the manufacturer website: 

2.5. RoboPeak RP-LIDAR laser Scanners

The low-cost RP-LIDAR sensor, USB-interfaced, is supported since MRPT 1.2.2 through the class mrpt::hwdrivers::CRobotPeakLidar.

See the manufacturer website:

3. 3D Laser scanners / 3D LIDARs

3.1. Velodyne

Velodyne 3D LIDARs are supported by means of:
Note: From MRPT 1.4.0

4. Cameras

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.

firewire-cam4.1. Monocular and stereo cameras

Apart from the generic CCameraSensor class, MRPT offers this implementation-specific classes:

BB2_white_background_large4.2. Bumblebee/Bumblebee2 Stereo cameras

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 classmrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394.

STH-DCSG-VAR_med4.3. Videre Stereo cameras

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.


4.4. IP cameras and video files

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.

5. Inertial Sensors / Gyroscopes


5.1. xSens MTi Inertial Unit (IMU) – 3rd generation devices

The interface to this sensor is implemented in the class mrpt::hwdrivers::CIMUXSens.

MTi_10-series5.2. xSens MTi Inertial Units (IMUs) – 4th generation devices

The interface to this sensor is implemented in the class mrpt::hwdrivers::CIMUXSens_MT4.
Required: MRPT 1.0.3


5.3. KVH DSP3000 (Fiber Optic Gyro)

A precise fiber optic gyro. The interface to this sensor is implemented in the class mrpt::hwdrivers::CGyroKVHDSP3000.

See the manufacturer website:…/Fiber-Optic-Gyros/DSP-3000.aspx 

6. GPS receivers


6.1. Parser of standard NMEA commands and Novatel binary frames

An implementation of a parser of NMEA commands from a wide range of GPS devices, also capable of receiving Novatel frames (this latter feature, only available in MRPT 1.3.3 or newer), can be found in the class mrpt::hwdrivers::CGPSInterface.


6.2. RTK corrections via NTRIP

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.


7. Activemedia robotic bases (All ARIA-compatible bases)

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.

Note: Support for these robots was dropped in MRPT 1.5.3. Use older versions if you need it with MRPT. Ten years ago, it might make sense to integrate ARIA into MRPT, but nowadays it’s probably more practical to use ARIA ROS packages to access robots instead of directly using MRPT.


8. Rovio mobile robot/webcam

An interface to this mobile robot, equipped with an IP camera, is implemented in the C++ class mrpt::hwdrivers::CRovio.

See the manufacturer web: 


9. Joysticks

A cross-platform and very simple interface to joysticks is provided via the class mrpt::hwdrivers::CJoystick.

10. Pan and Tilt Units


10.1. Direct Perception Pan-Tilt-Unit (PTU)

An interface to this PTU model is implemented in the C++ class mrpt::hwdrivers::CPtuDPerception.

dt8010.2. Micos Tilt-Unit

An interface to the precision “rotation stage DT-80”, by MICOS. See the C++ class mrpt::hwdrivers::CTuMicos.

See the manufacturer website:,5,120,dt80.html

11. Range-only or RFID sensors

Impinj's RFID

11.1. Impinj’s RFID Speedway Revolution Reader

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:

12. Generic I/O boards


12.1. Phidgets boards

Phidgets Inc.’s board “PhidgetInterfaceKit 8/8/8” is supported by class mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors.

Manufacturer web:

12.2. National Instruments boards compatible with DAQmx Base

See class: mrpt::hwdrivers::CNationalInstrumentsDAQ
Read this blog entry about the limitations of NI PCI/USB DAQ boards in 64bit Linux distributions.

Note: Since MRPT 1.0.3

13. Gas and Wind sensing devices


13.1. MiniRAE Lite photoionization detector (PID)

This sensor for fast detection of volatile organic compounds (VOC) is supported by the software driver C++ class mrpt::hwdrivers::CRaePID

Manufacturer web:


13.2. Gill WindSonic Wind sensor

Speed and direction ultrasonic wind sensor. Supported by the software driver C++ class mrpt::hwdrivers::CGillAnemometer 

Manufacturer web:

  • Lealem

    Am a newbie here; How can I use MicroStrain 3DM-GX2 IMU sensor in MRPT?

    • jlblanco

      That device is not supported, sorry. If anyone is really interested, the procedure to contribute a driver is:

      1) Fork MRPT in GitHub.

      2) Taking as a reference another similar driver (in this case, mrpt::hwdrivers::CIMUXSens for example), create a new C++ class under libs/hwdrivers/* to interface with the device.

      3) After testing, open a pull request in GitHub.


      • Lealem

        Thanks a lot!

  • Alex

    Are the activemedia robot bases (p3dx) ready to use with MRPT as in plug and play ? Can you write a tutorial as to how to use the P3DX with the MRPT library. Right now Aria and ROS are working fine, but I would like to use the MRPT for trying out other algorithms specially the PTG based navigation and RBPF slam. Thanks.

  • faye

    Can I use RP Lidar 360 a2 with mrpt_localization in ROS?