Package symbol

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

Package symbol

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
jazzy

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

Package symbol

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
kilted

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

Package symbol

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
rolling

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange

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

mola_imu_preintegration package from mola_imu_preintegration repo

mola_imu_preintegration

ROS Distro
humble

Package Summary

Version 1.11.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Integrator of IMU angular velocity readings

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

CI Check clang-format CI ROS

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

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 GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CHANGELOG

Changelog for package mola_imu_preintegration

1.11.0 (2025-09-24)

  • New unit tests for IMU integration
  • Move everything into namespace mola::imu to avoid ns pollution
  • Move LocalVelocityBuffer class here from mp2p_icp repository
  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Add class ImuTransformer
  • Update copyright notice
  • Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

  • fixes for clang-tidy
  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

  • Fix package.xml URLs
  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script
  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
  • Fix ament_xmllint warnings in package.xml
  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings
  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5
  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Update docs
  • Fix package.xml website URL
  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • API changes for new package mola_navstate_fuse
  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Update copyright year
  • Correct references to license
  • Ported to ROS2 colcon build system

File truncated at 100 lines see the full file

Package Dependencies

System Dependencies

Name
cmake
doxygen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange