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

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

Changelog for package mola_imu_preintegration

1.16.1 (2026-05-11)

• Merge pull request #6 from MOLAorg/simplify-ci CI: simplify clang-format helpers and use ros: docker images for stable builds

• CI: simplify clang-format helpers and use ros: docker images for stable builds

  • Replace complex Python-based clang_git_format with a simple scripts/formatter.sh supporting --check
  • Standardize formatter to scripts/formatter.sh (renamed from clang-formatter.sh)
  • Simplify check-clang-format.yml to just apt-install clang-format-14 and run the script

  - Use ros:humble / ros:jazzy pre-built images for stable CI builds (faster, no setup-ros needed) Co-Authored-By: Claude Sonnet 4.6 <<noreply@anthropic.com>>

• Merge pull request #5 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22

• CI: sensible job names

• bump min req cmake version to 3.22

• Merge pull request #4 from MOLAorg/feat/window_since2 feat(mola_imu_preintegration): MOLA_IMU_PREINTEGRATION_HAS_WINDOW_SINCE macro + tests

• feat(mola_imu_preintegration): MOLA_IMU_PREINTEGRATION_HAS_WINDOW_SINCE macro + tests Expose MOLA_IMU_PREINTEGRATION_HAS_WINDOW_SINCE at the end of the LocalVelocityBuffer header so downstream packages in separate repos (mola_lidar_odometry's online gravity rebake) can guard usage with __has_include + this macro and stay buildable against older mola_imu_preintegration checkouts. Add unit tests for window_since covering open-ended and bounded windows, the (from, to] boundary semantics, and the empty-result case. Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

• Merge pull request #3 from MOLAorg/feat/window_since feat: Add API entry window_since()

• feat: Add API entry window_since()

• Contributors: Jose Luis Blanco-Claraco

1.16.0 (2026-04-22)

• Merge pull request #2 from MOLAorg/feat/implement-low-pass-filters Implement low-pass filtering for acc/omega (more stable transformed IMU vectors)
• Add formal CLA
• Contributors: Jose Luis Blanco-Claraco

1.15.0 (2026-02-23)

• Merge pull request #1 from MOLAorg/feat/transform-without-w ImuTransformer: work on acceleration even without omega
• BUG FIX: Wrong copy-paste sign error in centripetal acceleration
• ImuTransformer: work on acceleration even without omega
• Contributors: Jose Luis Blanco-Claraco

1.14.1 (2025-12-26)

• Add option 'use_imu_orientation' to disable using IMU orientation for initialization
• CI: Use standard checkout action
• Contributors: Jose Luis Blanco-Claraco

1.14.0 (2025-11-11)

• BUGFIX: Estimated acc. bias and initial roll had a bug in their formulas.
• Add unit tests for initial calibrator
• Update project website URL in package.xml
• Contributors: Jose Luis Blanco-Claraco

1.13.2 (2025-10-20)

• Make use of ConstPtr in API
• Contributors: Jose Luis Blanco-Claraco

1.13.1 (2025-10-15)

• ImuCalibrator: Robust against invalid orientation data in Imu msgs
• Fix random failures in unit test
• CI: add running unit tests
• Contributors: Jose Luis Blanco-Claraco

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