mola_lidar_odometry

LIDAR odometry component based on the MOLA and MRPT frameworks, compatible with ROS 2.

Contents

This repository provides a C++ library mola_lidar_odometry implementing LIDAR odometry. Sensor input is provided via MOLA components, and ROS 2 example launch files are provided in ros2-launchs.

A CLI interface mola-lidar-odometry-cli is also provided for running on offline datasets.

Build and install

Refer to: https://docs.mola-slam.org/latest/#installing

Documentation and tutorials

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

ROS build farm status

Distro	Develop branch	Releases	Stable release
ROS2 Humble (u22.04)		amd64 arm64
ROS2 Iron (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

Citation

José Luis Blanco-Claraco, A flexible framework for accurate LiDAR odometry, map manipulation, and localization, 
ArXiV 2024.
https://arxiv.org/abs/2407.20465

License

Copyright (C) 2018-2024 Jose Luis Blanco jlblanco@ual.es, University of Almeria

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

Changelog for package mola_lidar_odometry

0.3.3 (2024-09-01)

• default 3D pipeline: Expose a couple more parameters as env variables
• Depend on new mrpt_lib packages (deprecate mrpt2)
• Contributors: Jose Luis Blanco-Claraco

0.3.2 (2024-08-26)

• Support input dataset directories for split bags
• Contributors: Jose Luis Blanco-Claraco

0.3.1 (2024-08-22)

• add missing exec dependencies to package.xml for mola-lo-* commands.
• Contributors: Jose Luis Blanco-Claraco

0.3.0 (2024-08-14)

• First public release
• Contributors: Jose Luis Blanco-Claraco