ROS Index
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_sm_loop_closure at Robotics Stack Exchange
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_sm_loop_closure package from mola_sm_loop_closure repomola_sm_loop_closure |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_sm_loop_closure.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-01-15 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Simplemap loop-closure postprocessing library and CLI tool
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
| 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_sm_loop_closure
Offline tool for loop-closure on simple-maps
Georeferencing a map
# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
-o MAP.mm \
-p pipeline.yaml
# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm
Loop closure detection
Example usage:
mola-sm-lc-cli \
--pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
-i map_KAIST01_gps.simplemap \
-o map_KAIST01_corrected.simplemap
License
Copyright (C) 2018-2026 Jose Luis Blanco jlblanco@ual.es, University of Almeria
This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| gtsam | |
| mola_common | |
| mola_georeferencing | |
| mola_gtsam_factors | |
| mola_pose_list | |
| mola_relocalization | |
| mola_yaml | |
| mp2p_icp | |
| mrpt_libgui | |
| mrpt_libmaps | |
| mrpt_libtclap |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.