mola_georeferencing

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
jazzy

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
kilted

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
rolling

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange

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mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	2.0.1
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

2.0.1 (2026-01-15)

Fix potential bug in sm_georeferencing
Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
Add missing #include for gtsam
Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
lint clean ups
Copyright year bump
Merge pull request #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests
Add georef unit test
Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
process CObservationRobotPose
integrate code coverage in cmake
package.xml: add FILE to license tags
Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
new package mola_georeferencing, imported and refactored from mola_sm_loop_closure
Contributors: Jose Luis Blanco-Claraco

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_libmaps
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mola_georeferencing` at Robotics Stack Exchange