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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

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	2026-03-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_imu_preintegration	1.15.0

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.

Contributions require acceptance of the Contributor License Agreement (CLA).

CONTRIBUTING

Contributing to MOLA

Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution.

MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below.

1. Contributor License Agreement

All contributions to MOLA require acceptance of the Contributor License Agreement (CLA) prior to being merged.

MOLA is distributed under a dual licensing model:

Open source: GNU General Public License v3 (GPL v3)
Commercial: A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3

The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work.

When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered.

2. Code of Conduct

All contributors are expected to adhere to the project’s Code of Conduct. We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project.

3. Types of Contributions

We welcome the following types of contributions:

Bug fixes — corrections to incorrect or unexpected behavior
Performance improvements — optimizations with measurable, documented impact
New modules or algorithms — extensions to MOLA’s modular architecture
Documentation improvements — corrections, clarifications, and additions to existing documentation
Dataset integrations — support for additional SLAM benchmark or real-world datasets
ROS 2 integrations — improvements to the ROS 2 interface, launch files, or message definitions
Tests — new or improved unit, integration, or regression tests

If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap.

4. Getting Started

Full setup instructions, dependencies, and build guides are available in the official documentation:

https://docs.mola-slam.org/

Ensure your development environment is fully configured and that all existing tests pass before making any changes.

5. Development Workflow

Fork the repository and create a new branch from main (or the relevant base branch).
Name your branch descriptively, e.g. fix/imu-integration-drift or feat/lidar-odometry-module.
Make your changes in focused, logically grouped commits.
Ensure all tests pass locally before opening a Pull Request.
Open a Pull Request against the main branch with a clear description of your changes.

Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern.

6. Commit and Pull Request Guidelines

Commits

Write commit messages in the imperative mood: Fix timestamp alignment in IMU handler, not Fixed or Fixes.
Keep the subject line under 72 characters.
Reference relevant issues in the commit body where applicable, e.g. Closes #123.

Pull Requests

Provide a clear summary of the problem being solved and the approach taken.
Include references to any related issues, discussions, or prior art.
If the PR introduces a user-visible change, update the relevant documentation and changelog.
Mark the PR as a draft if it is not yet ready for review.

File truncated at 100 lines see the full file

# Contributing to MOLA Thank you for your interest in contributing to MOLA. This document outlines the process and expectations for contributing to this project. Please read it carefully before submitting any contribution. MOLA is a modular SLAM and localization framework written in C++ with ROS 2 support. We welcome contributions from the community, provided they meet the quality and legal requirements described below. --- ## Table of Contents 1. [Contributor License Agreement](#1-contributor-license-agreement) 2. [Code of Conduct](#2-code-of-conduct) 3. [Types of Contributions](#3-types-of-contributions) 4. [Getting Started](#4-getting-started) 5. [Development Workflow](#5-development-workflow) 6. [Commit and Pull Request Guidelines](#6-commit-and-pull-request-guidelines) 7. [Coding Standards](#7-coding-standards) 8. [Testing Requirements](#8-testing-requirements) 9. [Documentation](#9-documentation) 10. [Review Process](#10-review-process) 11. [Reporting Issues](#11-reporting-issues) --- ## 1. Contributor License Agreement All contributions to MOLA require acceptance of the [Contributor License Agreement (CLA)](./individual-cla.md) prior to being merged. MOLA is distributed under a dual licensing model: - **Open source:** GNU General Public License v3 (GPL v3) - **Commercial:** A separate commercial license is available for industry users who cannot comply with the terms of the GPL v3 The CLA ensures that the project maintainers hold the necessary rights to distribute your contribution under both licensing models. It does not transfer copyright ownership — you retain full ownership of your work. When you open a Pull Request, an automated CLA assistant will verify whether you have previously accepted the agreement. If you have not, you will be prompted to do so before the PR can be reviewed or merged. Contributions submitted without CLA acceptance will not be considered. --- ## 2. Code of Conduct All contributors are expected to adhere to the project's [Code of Conduct](./CODE_OF_CONDUCT.md). We are committed to maintaining a welcoming and professional environment for everyone, regardless of background or experience level. Violations may result in removal from the project. --- ## 3. Types of Contributions We welcome the following types of contributions: - **Bug fixes** — corrections to incorrect or unexpected behavior - **Performance improvements** — optimizations with measurable, documented impact - **New modules or algorithms** — extensions to MOLA's modular architecture - **Documentation improvements** — corrections, clarifications, and additions to existing documentation - **Dataset integrations** — support for additional SLAM benchmark or real-world datasets - **ROS 2 integrations** — improvements to the ROS 2 interface, launch files, or message definitions - **Tests** — new or improved unit, integration, or regression tests If you are considering a large or architectural contribution, please open an issue for discussion before beginning work. This avoids duplication of effort and ensures alignment with the project roadmap. --- ## 4. Getting Started Full setup instructions, dependencies, and build guides are available in the official documentation: **https://docs.mola-slam.org/** Ensure your development environment is fully configured and that all existing tests pass before making any changes. --- ## 5. Development Workflow 1. **Fork** the repository and create a new branch from `main` (or the relevant base branch). 2. Name your branch descriptively, e.g. `fix/imu-integration-drift` or `feat/lidar-odometry-module`. 3. Make your changes in focused, logically grouped commits. 4. Ensure all tests pass locally before opening a Pull Request. 5. Open a Pull Request against the `main` branch with a clear description of your changes. Do not submit Pull Requests that bundle unrelated changes. Each PR should address a single concern. --- ## 6. Commit and Pull Request Guidelines **Commits** - Write commit messages in the imperative mood: `Fix timestamp alignment in IMU handler`, not `Fixed` or `Fixes`. - Keep the subject line under 72 characters. - Reference relevant issues in the commit body where applicable, e.g. `Closes #123`. **Pull Requests** - Provide a clear summary of the problem being solved and the approach taken. - Include references to any related issues, discussions, or prior art. - If the PR introduces a user-visible change, update the relevant documentation and changelog. - Mark the PR as a draft if it is not yet ready for review. --- File truncated at 100 lines [see the full file](https://github.com/MOLAorg/mola_imu_preintegration/tree/develop/CONTRIBUTING.md)

mola_imu_preintegration repository

ROS Distrohumble

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

Contributing to MOLA

Table of Contents

1. Contributor License Agreement

2. Code of Conduct

3. Types of Contributions

4. Getting Started

5. Development Workflow

6. Commit and Pull Request Guidelines

mola_imu_preintegration repository

ROS Distrojazzy

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

Contributing to MOLA

Table of Contents

1. Contributor License Agreement

2. Code of Conduct

3. Types of Contributions

4. Getting Started

5. Development Workflow

6. Commit and Pull Request Guidelines

mola_imu_preintegration repository

ROS Distrokilted

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

Contributing to MOLA

Table of Contents

1. Contributor License Agreement

2. Code of Conduct

3. Types of Contributions

4. Getting Started

5. Development Workflow

6. Commit and Pull Request Guidelines

mola_imu_preintegration repository

ROS Distrorolling

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

License

CONTRIBUTING

Contributing to MOLA

Table of Contents

1. Contributor License Agreement

2. Code of Conduct

3. Types of Contributions

4. Getting Started

5. Development Workflow

6. Commit and Pull Request Guidelines

mola_imu_preintegration repository

ROS Distrohumble

Repository Summary

Packages

README

mola_imu_preintegration

Build and install

Docs and examples

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