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mola_lidar_odometry repository

localization cpp robotics mapping ros lidar slam mobile-robotics ros2 lidar-point-cloud mola_lidar_odometry

Repository Summary

Description MOLA LiDAR odometry and localization
Checkout URI https://github.com/MOLAorg/mola_lidar_odometry.git
VCS Type git
VCS Version develop
Last Updated 2025-03-27
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags localization cpp robotics mapping ros lidar slam mobile-robotics ros2 lidar-point-cloud
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
mola_lidar_odometry 0.7.1

README

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

mola-slam-kitti-demo

Documentation and tutorials

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

ROS build farm status

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

Citation

The latest publication on MOLA is (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title ={A flexible framework for accurate LiDAR odometry, map manipulation, and localization},
    journal = {The International Journal of Robotics Research},
    volume = {0},
    number = {0},
    pages = {02783649251316881},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

License

Copyright (C) 2018-2025 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.

CONTRIBUTING

No CONTRIBUTING.md found.