mola_navstate_smoother

Sliding window Factor-graph data fusion for odometry, IMU, GNSS, and SE(3) pose/twist estimations.

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 for package mola_state_estimation_smoother

2.0.1 (2026-01-15)

• test: less strict limits to avoid random failures
• cmake: Remove non-used find_package() for ament_lint_auto
• Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors
• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

• Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics
• Use bad initial pose for unit test
• unit test: same conditions for different kinematic models
• Copyright year bump
• Add FactorTricycleKinematic
• Implement twist fusion
• Add twist unit test
• Unit test: include tricycle tests too
• Enable connection to MolaViz for console messages
• converted into ament_cmake; update template yaml params file
• Add templates to launch the estimator as a standalone ROS 2 node
• Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
• More realistic drift case: IMU helps LO
• fix test: correct IMU acc simulation
• Default params: more common case of starting near static
• fixed imu acc gravity alignment
• Add two-odometry unit test
• fix error, and add support for azimuth offset
• add IMU+GPS based azimuth estimation
• Refactor: symbolic factor classes moved as internal smoother classes
• Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
• fixed missing extrapolation steps
• implement basic pose extrapolation
• honor initial twist
• Fixed odom+gnss fusion
• implement correct auto geo-referenciation
• Support fusing poses wrt map frame too
• marginals for uncertainty
• refactor to use Pose3 instead of P+R
• initialize georef gtsam variables
• Make important parameters mandatory in yaml config files
• New unit test for fusing GPS+odometry
• process CObservationRobotPose
• One further fix for cmake
• integrate code coverage in cmake
• Update .h docs to match the new design
• Enable code coverage
• Update parameters to hold new geo-ref fields
• 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 LocalVelocityBuffer class here from mp2p_icp repository
• Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

• Fix build against gtsam>=4.3
• 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
• FIX: Error if sensor labels were provided in config yaml file
• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-25)

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

1.8.0 (2025-03-15)

• const correctness
• State estimation modules now are proper MOLA raw inputs, so they automatically subscribe and consume input sensors (IMU, GPS, wheels odometry)
• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-02-22)

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