mola_kernel

MOLA kernel library, providing the definition of essential virtual interfaces and data types.

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.

Changelog for package mola_kernel

3.1.1 (2026-08-10)

• Fix C++20 build: keep TransformTree/TransformTreeNode aggregates by dropping their defaulted default constructors, which made brace initialization stop compiling on ROS 2 Lyrical (C++20).
• Contributors: Jose Luis Blanco-Claraco

3.1.0 (2026-08-06)

• Add mola::TransformTreeSource: expose the /tf tree to other MOLA modules (#188) * Add mola::TransformTreeSource: expose the /tf tree to other modules New mola_kernel interface letting a data source publish its tree of coordinate frames, so consumers (e.g. a LiDAR-odometry viewer) can draw a robot's joints as it moves. transform_tree(root) returns the subtree below 'root' with poses already resolved against it. The filtering is done in the source, which is what owns the transform buffer, so a consumer never receives nor walks unrelated subtrees. The interface carries no ROS/tf2 type, keeping mola_kernel ROS-independent. Implemented by Rosbag1Dataset (separate repo), Rosbag2Dataset and BridgeROS2. No locking is added around the subtree walk: tf2::BufferCore guards its own internals, which is also what lets BridgeROS2's TransformListener feed the buffer from its own thread.
  • Address review: depth-first comment, cycle guard in the tf walk
  • No need for include guards inside this same git repo
• fix formatting
• mola_kernel: don't flood ERROR logs when GUI preview has no viz module A launch YAML can populate gui_preview_sensors for a sensor without gating that entry behind MOLA_WITH_GUI (several mola_lidar_odometry launch files did exactly this). In that case every observation for that sensor label enqueued a task that threw and caught "Could not find a running MolaViz module" -- thousands of ERROR-level log lines per headless run, found via SLAM quality-eval sweeps producing 20k+ of them on a single KITTI sequence. Check once, outside the per-observation lambda, whether a VizInterface is actually running; if not, log a single throttled warning and skip enqueueing entirely instead of relying on every launch file getting its own MOLA_WITH_GUI gate right.
• Merge pull request #187 from MOLAorg/feat/incremental-point-cloud-kdtree-bake Bake IncrementalPointCloud's k-d tree index (mm-ipc-bake-kdtree)
• changelog
• fix: mola_kernel listed mrpt::gui as dependency but could be removed
• Merge pull request #185 from MOLAorg/chore/remove-keyframe-map-capable Remove the KeyframeMapCapable interface
• chore: remove the KeyframeMapCapable interface This mixin was introduced to expose per-KF pose plumbing to mola_lidar_odometry's trajectory-rebake experiment, which corrected accumulated tilt by re-integrating the keyframe chain. That experiment is being removed: it was never wired in, and rotating map keyframes without transforming the trajectory consistently leaks vertical position. The interface had exactly one implementation and no callers, so it is removed along with the two methods that existed only for the rebake path, [oldestActiveKeyframeID()]{.title-ref} and [applyPivotTransform()]{.title-ref}. [keyframePoses()]{.title-ref} is kept, since the regroup tests already use it as ordinary map API, and the duplicate [cloneKFPoses()]{.title-ref} (whose only difference was not being the virtual one) is folded into it.
• Merge pull request #183 from MOLAorg/feat/child-loggers-console-hook Let a module expose child loggers for console capture
• feat(kernel): let a module expose child loggers for console capture ExecutableBase gains child_loggers(), an optional hook returning additional mrpt::system::COutputLogger instances a module owns but does not log through itself (e.g. a library engine run on its own background thread). mola_viz_imgui's console window now discovers and hooks these the same way it already does for the module itself, tagged with a "module/child" source name, so their output is captured without the owning module having to relay each message through its own logger (which would otherwise re-apply the module's own verbosity gating). Motivated by mola_mapper's background loop-closure engine (mola_sm_loop_closure), which has its own independent logger whose output was previously invisible to the imgui console.
• Merge pull request #180 from MOLAorg/feat/combobox-fixed-width GUI: add optional fixed_width to ComboBox (both backends)
• Add optional fixed_width to ComboBox, honored by both GUI backends Without it, ImGui::Combo defaults to an item width that scales with the window, so short option lists visibly balloon in wide sub-windows (seen when packing a ComboBox next to a checkbox in a Row). 0 keeps each backend's current auto-sizing behavior.
• Contributors: Jose Luis Blanco-Claraco
• fix: removed unused mrpt::gui dependency and the unused KeyframeMapCapable interface (dead code from an abandoned trajectory-rebake experiment).
• feat(kernel): added child_loggers() hook to ExecutableBase so modules can expose background-thread loggers for console capture.
• feat: ComboBox GUI widget gained an optional fixed_width parameter (both backends).
• Contributors: Jose Luis Blanco-Claraco

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