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

2.5.0 (2026-02-14)

• Merge pull request #105 from MOLAorg/feat/refactor-ros2-bridges Refactor to use external rosbag2 conversion in mrpt_ros_bridge
• Use refactored ros2mrpt bridge in live node too
• Fix: potential access to the ROS2 node before it's ready
• Merge pull request #101 from MOLAorg/fix/mola-bridge-no-pub-queue Fix: mola bridge no pub queue
• BridgeRos2: publish localization updates immediately, do not buffer them
• Add debug traces
• Merge pull request #99 from MOLAorg/feat/ros2-bridge-pub-geographic ROS2 bridge: publish geographic poses too
• ros2 bridge: use geographic_msgs, store the last georeference info internally, and publish georef poses merge of these commits:
  • Enable many more clang-tidy checks
  • lint clean
  • implement publishing georeferenced poses
  • mola-viz: fix potential crash on edge case with all points having NaN value
  • FIX: potential crash if no MapServer is present and map services are called
• fix clang-format
• FIX: potential deadlock in BridgeROS2 dtor due to early errors before ros2 is initialized
• Contributors: Jose Luis Blanco-Claraco

2.4.0 (2025-12-28)

• Prepare for not using deprecated mrpt_maps types starting for mrpt >=3.0.0
• FIX: Potential segfault if observations come before ROS2 /tf broadcasters are initialized
• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2025-12-15)

• Import all pcd fields from ros2 messages using CGenericPointsMap
• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2025-11-08)

• BridgeROS2: more debug traces in map publishing
• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2025-10-28)

• format
• Fix build against upcoming mrpt v2.15.0
• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-20)

• Publish to ROS all map types implementing getAsSimplePointsMap()
• format
• FIX: ROS2 bridge must use timestamps for map updates to publish maps and deskewed clouds
• Support publishing several maps from the same source per iteration to ROS
• clang-format
• Make use of ConstPtr across API
• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

• fix clang-format
• Modernize copyright notice
• Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

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

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