mola_bridge_ros2

RawDataSource acting as a bidirectional bridge between ROS2 and MOLA modules.

Can be used to:

• ROS2->MOLA: Interface a real sensor using a ROS driver node and run SLAM with it. See mola_lidar_odometry demos.
• MOLA->ROS2: Expose a dataset as ROS2 topics, from any of the datasets supported by MOLA. Example: kitti
• ROS2<->MOLA: Run SLAM on a live sensor stream, then send back the reconstructed map and trajectory to ROS for further processing or visualization in RViz. See mola_lidar_odometry demos.

If you want to run SLAM on a rosbag, the module mola_input_rosbag2 provides a more convenient interface, e.g. allows fast-forwarding or skipping parts of a bag.

Building this module requires ROS 2 to be installed, and its setup.bash activation script being sourced before invoking CMake to configure and build MOLA.

See package docs for instructions and options to install ROS prerequisites.

Provided MOLA modules:

• BridgeROS2, type RawDataSourceBase.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the BSD 3-clause license.

Changelog for package mola_bridge_ros2

1.9.0 (2025-06-06)

• fix clang-format
• Implement publishing of optional "metadata" map field too
• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

• Fix: Do not use the deprecated ament_target_dependencies()
• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-05-25)

• Update license tag to "BSD-3-Clause"
• Update copyright year
• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

1.6.4 (2025-04-23)

• fix: Correctly handling Livox cloud timestamps ("double"s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.
• modernize clang-format
• Merge pull request #82 from ahpinder/develop Add Support for Voxel Map ROS2 Publishing Via Point Map Conversion
• fixed Clang formatting
• Clean up voxel map publishing code
• Added voxel map point cloud publishing Added code to timerPubMap to publish the occupied voxels of a mrpt::<maps::CVoxelMap> as a point cloud to ROS2, allowing for real-time ROS2 visualization of 2D map capture
• Contributors: Jose Luis Blanco-Claraco, ahpinder

1.6.3 (2025-03-15)

• clang-tidy: const correctness
• Service renamed: RelocalizeFromGNSS -> RelocalizeFromStateEstimator
• FIX: Potential deadlock in initialization
• Contributors: Jose Luis Blanco-Claraco

1.6.2 (2025-02-22)

• Implement publish Diagnostics per mola module & ROS2 publishers refactored (code clean up)
• BridgeROS2: add source filter for forwarding localization updates to ROS2
• ROS2: base_footprint_frame /tf is broadcasted now as base_link -> base_footprint to avoid /tf warnings (better as a child than as a second parent in the tf tree)
• FIX: In parsing base_footprint_to_base_link_tf
• Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

1.6.1 (2025-02-13)

• Add new option: publish_tf_from_slam; add better docs on the meaning of all parameters
• Publish georef /tf as /tf_static
• ROS2 bridge now publishes georeferenced map metadata as /tf's and as mrpt_nav_interfaces/GeoreferencingMetadata
• Revert "Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging" This reverts commit 8a84611d85022f37b80d8bdcb7acaa1910669fc1.
• FIX: wrong variable in former commit
• Merge pull request #75 from MOLAorg/feature/mrpt-to-ros-console Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging
• Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging
• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-21)

• Publish gridmaps too
• ros2 bridge: rep105 only for map->base_link tfs
• BridgeROS2: support forwarding more than one localization message per timer call
• Fix published /tf's: those from LocalizationSources now can explicitly define their parent and child frames
• Contributors: Jose Luis Blanco-Claraco

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

• BridgeROS2: add option (now enabled by default) to publish /tfs following REP105 order
• BUG FIX: Published odometry msg lacked target frame_id
• Rename method for better reflecting its goal
• Contributors: Jose Luis Blanco-Claraco

1.4.0 (2024-12-18)

• Publish localization quality topic

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