| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) |  |
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| ROS 2 Iron (u22.04) |  |
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| ROS 2 Jazzy (u24.04) |  |
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| ROS 2 Rolling (u24.04) |  |
A Modular Optimization framework for Localization and mApping (MOLA). This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
Video: TBD
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Iron BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval | ||||
| mola | ||||
| mola_bridge_ros2 | ||||
| mola_demos | ||||
| mola_imu_preintegration | ||||
| mola_input_euroc_dataset | ||||
| mola_input_kitti360_dataset | ||||
| mola_input_kitti_dataset | ||||
| mola_input_mulran_dataset | ||||
| mola_input_paris_luco_dataset | ||||
| mola_input_rawlog | ||||
| mola_input_rosbag2 | ||||
| mola_kernel | ||||
| mola_launcher | ||||
| mola_metric_maps | ||||
| mola_msgs | ||||
| mola_navstate_fg | ||||
| mola_navstate_fuse | ||||
| mola_pose_list | ||||
| mola_relocalization | ||||
| mola_traj_tools | ||||
| mola_viz | ||||
| mola_yaml |
The latest publications on MOLA are (PDF).
@misc{blanco2024mola,
title={A flexible framework for accurate LiDAR odometry, map manipulation, and localization},
author={José Luis Blanco-Claraco},
year={2024},
eprint={2407.20465},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2407.20465},
}MOLA was initially presented in 2019 in (PDF):
@INPROCEEDINGS{Blanco-Claraco-RSS-19,
AUTHOR = {Jose Luis Blanco-Claraco},
TITLE = {A Modular Optimization Framework for Localization and Mapping},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2019},
ADDRESS = {FreiburgimBreisgau, Germany},
MONTH = {June},
DOI = {10.15607/RSS.2019.XV.043}
} MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. Some modules are released under BSD-3. See the official documentation.