mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
kilted

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

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

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type	git
VCS Version	develop
Last Updated	2025-10-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.13.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

mola_imu_preintegration repository

ROS Distrohumble

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

mola_imu_preintegration repository

ROS Distrojazzy

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Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

mola_imu_preintegration repository

ROS Distrokilted

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Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

mola_imu_preintegration repository

ROS Distrorolling

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

mola_imu_preintegration repository

ROS Distrohumble

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

mola_imu_preintegration repository

ROS Distrohumble

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

mola_imu_preintegration repository

ROS Distrohumble

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

mola_imu_preintegration repository

ROS Distrohumble

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

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