ROS Index
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mola_lidar_odometry | |
| mola_state_estimation |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mola_lidar_odometry | |
| mola_state_estimation |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mola_lidar_odometry | |
| mola_state_estimation |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
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Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
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mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mola_state_estimation_simple at Robotics Stack Exchange
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mola_state_estimation_simple package from mola_state_estimation repomola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother |
ROS Distro
|
Package Summary
| Version | 2.3.1 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola_state_estimation.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-05-10 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SE(3) pose and twist path data fusion estimator
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
No additional authors.
mola_state_estimation_simple
Simple kinematic state vector extrapolation algorithm to fuse odometry sources.
This repository provides:
-
NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.
See package documentation.
Build and install
Refer to the root MOLA repository.
License
This package is released under the GNU GPL v3 license. Other options available upon request.
CHANGELOG
Changelog for package mola_state_estimation_simple
2.3.1 (2026-05-04)
- Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce ("Add tests for simple estimator").
- Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
- Remove copies of RegexCache.h and use the shared version in mola_kernel
- Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose
- add regex filtering
- feat: Simple estimator now also processes CObservationsRobotPose
- Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.3.0 (2026-04-29)
- Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment
- fix: don't use twist cov in propagating pose uncertainty in this simple mode
- Fix: Avoid double covariance increment
- Contributors: Jose Luis Blanco-Claraco
2.2.0 (2026-03-03)
2.1.0 (2026-02-14)
- Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
- Include the RDC API in the tests
- Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
- remove old mola version guards
- Contributors: Jose Luis Blanco-Claraco
2.0.1 (2026-01-15)
2.0.0 (2026-01-14)
- Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
- lint clean ups
- Copyright year bump
- Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator
- Add tests for simple estimator
- Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
- One further fix for cmake
- integrate code coverage in cmake
- Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
- Contributors: Jose Luis Blanco-Claraco
1.11.1 (2025-10-20)
- Update to build against MOLA>=2.1.0 with ConstPtr API
- Contributors: Jose Luis Blanco-Claraco
1.11.0 (2025-10-05)
- Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
- Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library
- Fix using new IMU integration API
- Move LocalVelocityBuffer class here from mp2p_icp repository
- Contributors: Jose Luis Blanco-Claraco
1.10.0 (2025-09-07)
- Update copyright notice
- Make unhandled sensor input topic message less verbose
- Contributors: Jose Luis Blanco-Claraco
1.9.0 (2025-06-06)
- State estimation interface is now raw data consumer too
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.