| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) |  |
|
| ROS 2 Iron (u22.04) |  |
|
| ROS 2 Rolling (u22.04) |  |
A Modular Optimization framework for Localization and mApping (MOLA).
This repository holds the MOLA git superproject. Refer to the official documentation for build instructions, demos, API reference, etc.
| Demo | Preview |
|---|---|
| 3D LiDAR SLAM from KITTI dataset | |
| Graph SLAM from G2O dataset |
| Package | ROS 2 Humble BinBuild |
ROS 2 Iron BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|
| mola_common | |||
| mola_demos | |||
| mola_imu_preintegration | |||
| mola_input_euroc_dataset | |||
| mola_input_kitti_dataset | |||
| mola_input_rawlog | |||
| mola_input_ros2 | |||
| mola_kernel | |||
| mola_launcher | |||
| mola_test_datasets | |||
| mola_viz | |||
| mola_yaml | |||
| mp2p_icp |
Clone with:
git clone --recurse-submodules https://github.com/MOLAorg/mola.git
Follow these instructions (in RST format here).
Directories layout is as follows:
demos: Example YAML files formola-launcherdocs: Documentation and placeholder for Doxygen docs.externals: All external depedenciesmodules: All MOLA module projects.
MOLA was presented in (PDF):
@INPROCEEDINGS{Blanco-Claraco-RSS-19,
AUTHOR = {Jose Luis Blanco-Claraco},
TITLE = {A Modular Optimization Framework for Localization and Mapping},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2019},
ADDRESS = {FreiburgimBreisgau, Germany},
MONTH = {June},
DOI = {10.15607/RSS.2019.XV.043}
} MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. Some modules are released under BSD-3.