mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

mola repository

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

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

mola repository

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

ROS Distro
kilted

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

mola repository

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

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

mola repository

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

ROS Distro
iron

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

mola repository

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

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola.git
VCS Type	git
VCS Version	develop
Last Updated	2025-09-04
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
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

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)

MOLA

A Modular Optimization framework for Localization and mApping (MOLA). 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.

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires: Peek 2025-08-31 11-36

Lidar-Odometry (LO) demo with KITTI: kitti_demo_06

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

Citations

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

File truncated at 100 lines see the full file

mola repository

ROS Distrohumble

Repository Summary

Packages

README

MOLA

ROSCon Talk introducing MOLA

Individual package build status

Citations

License

CONTRIBUTING

mola repository

ROS Distrojazzy

Repository Summary

Packages

README

MOLA

ROSCon Talk introducing MOLA

Individual package build status

Citations

License

CONTRIBUTING

mola repository

ROS Distrokilted

Repository Summary

Packages

README

MOLA

ROSCon Talk introducing MOLA

Individual package build status

Citations

License

CONTRIBUTING

mola repository

ROS Distrorolling

Repository Summary

Packages

README

MOLA

ROSCon Talk introducing MOLA

Individual package build status

Citations

License

CONTRIBUTING

mola repository

ROS Distrohumble

Repository Summary

Packages

README

MOLA

ROSCon Talk introducing MOLA

Individual package build status

Citations

License

CONTRIBUTING

mola repository

ROS Distrohumble

Repository Summary

Packages

README

MOLA

ROSCon Talk introducing MOLA

Individual package build status

Citations

License

CONTRIBUTING

mola repository

ROS Distrohumble

Repository Summary

Packages

README

MOLA

ROSCon Talk introducing MOLA

Individual package build status

Citations

License

CONTRIBUTING

mola repository

ROS Distrohumble

Repository Summary

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
rolling

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
iron

ROS Distro
humble

ROS Distro
humble