mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
kilted

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

CONTRIBUTING

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

mola_state_estimation repository

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2025-12-10
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_georeferencing	1.11.1
mola_gtsam_factors	1.11.1
mola_state_estimation	1.11.1
mola_state_estimation_simple	1.11.1
mola_state_estimation_smoother	1.11.1

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

mola_state_estimation

Implementations of the MOLA virtual state estimation API for robots / vehicles.

These packages are provided here:

mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets.
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools.
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules

Refer to the repository documentation for more details, demos, etc.

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mola_georeferencing
mola_gtsam_factors
mola_state_estimation
mola_state_estimation_simple
mola_state_estimation_smoother

License

mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. See the official project documentation.

mola_state_estimation repository

ROS Distrohumble

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrojazzy

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrokilted

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrorolling

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrohumble

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrohumble

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrohumble

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrohumble

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

CONTRIBUTING

mola_state_estimation repository

ROS Distrohumble

Repository Summary

Packages

README

mola_state_estimation

Individual package build status

License

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
rolling

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble