ROS Index
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) |  |
|
| ROS 2 Jazzy (u24.04) |  |
|
| ROS 2 Kilted (u24.04) |  |
|
| ROS 2 Rolling (u24.04) |  |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) |  |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
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| mola |
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| mola_bridge_ros2 |
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| mola_demos |
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| mola_input_euroc_dataset |
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| mola_input_kitti360_dataset |
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| mola_input_kitti_dataset |
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| mola_input_mulran_dataset |
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| mola_input_paris_luco_dataset |
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| mola_input_rawlog |
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| mola_input_rosbag2 |
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| mola_input_video |
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| mola_kernel |
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| mola_launcher |
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| mola_metric_maps |
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| mola_msgs |
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| mola_pose_list |
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| mola_relocalization |
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| mola_traj_tools |
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|
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| mola_viz |
|
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| mola_yaml |
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|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/MOLAorg/mola.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-09-08 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| kitti_metrics_eval | 1.9.1 |
| mola | 1.9.1 |
| mola_bridge_ros2 | 1.9.1 |
| mola_demos | 1.9.1 |
| mola_input_euroc_dataset | 1.9.1 |
| mola_input_kitti360_dataset | 1.9.1 |
| mola_input_kitti_dataset | 1.9.1 |
| mola_input_mulran_dataset | 1.9.1 |
| mola_input_paris_luco_dataset | 1.9.1 |
| mola_input_rawlog | 1.9.1 |
| mola_input_rosbag2 | 1.9.1 |
| mola_input_video | 1.9.1 |
| mola_kernel | 1.9.1 |
| mola_launcher | 1.9.1 |
| mola_metric_maps | 1.9.1 |
| mola_msgs | 1.9.1 |
| mola_pose_list | 1.9.1 |
| mola_relocalization | 1.9.1 |
| mola_traj_tools | 1.9.1 |
| mola_viz | 1.9.1 |
| mola_yaml | 1.9.1 |
README
:robot: MOLA :compass:
Modular Optimization framework for Localization and mApping
A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | |
|
| ROS 2 Jazzy (u24.04) | |
|
| ROS 2 Kilted (u24.04) | |
|
| ROS 2 Rolling (u24.04) | |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) | |
🤖 What is MOLA?
MOLA (Modular Optimization framework for Localization and mApping) is a 🧩 modular, ⚙️ extensible, and 🚀 high-performance framework for robotics localization and 🗺️ mapping.
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
🚀 Demo videos
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with KITTI:
ROSCon Talk introducing MOLA
Video (Slides):
Individual package build status
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| kitti_metrics_eval |
|
|
|
|
| mola |
|
|
|
|
| mola_bridge_ros2 |
|
|
|
|
| mola_demos |
|
|
|
|
| mola_input_euroc_dataset |
|
|
|
|
| mola_input_kitti360_dataset |
|
|
|
|
| mola_input_kitti_dataset |
|
|
|
|
| mola_input_mulran_dataset |
|
|
|
|
| mola_input_paris_luco_dataset |
|
|
|
|
| mola_input_rawlog |
|
|
|
|
| mola_input_rosbag2 |
|
|
|
|
| mola_input_video |
|
|
|
|
| mola_kernel |
|
|
|
|
| mola_launcher |
|
|
|
|
| mola_metric_maps |
|
|
|
|
| mola_msgs |
|
|
|
|
| mola_pose_list |
|
|
|
|
| mola_relocalization |
|
|
|
|
| mola_traj_tools |
|
|
|
|
| mola_viz |
|
|
|
|
| mola_yaml |
|
|
|
|
File truncated at 100 lines see the full file