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https://github.com/MOLAorg/mola
A Modular Optimization framework for Localization and mApping (MOLA)
https://github.com/MOLAorg/mola
computer-vision cxx cxx17 datasets graph-slam lidar lidar-point-cloud localization mobile-robots slam toolkit visual-slam
Last synced: about 1 month ago
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A Modular Optimization framework for Localization and mApping (MOLA)
- Host: GitHub
- URL: https://github.com/MOLAorg/mola
- Owner: MOLAorg
- License: other
- Created: 2018-11-05T22:04:03.000Z (about 6 years ago)
- Default Branch: develop
- Last Pushed: 2024-04-08T10:56:59.000Z (8 months ago)
- Last Synced: 2024-04-08T11:51:20.109Z (8 months ago)
- Topics: computer-vision, cxx, cxx17, datasets, graph-slam, lidar, lidar-point-cloud, localization, mobile-robots, slam, toolkit, visual-slam
- Language: C++
- Homepage: https://docs.mola-slam.org/latest/
- Size: 2.44 MB
- Stars: 347
- Watchers: 22
- Forks: 69
- Open Issues: 32
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-robotic-tooling - mola - A Modular System for Localization and Mapping. (Simultaneous Localization and Mapping / Lidar)
- awesome-robotic-tooling - mola - is a Modular system for Localization and Mapping (Localization / Point Cloud Processing)
README
[](https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml)
[](https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml)
[](https://docs.mola-slam.org/latest/)
| Distro | Build dev | Release |
| --- | --- | --- |
| ROS 2 Humble (u22.04) | [](https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/) | [](https://index.ros.org/search/?term=mola) |
| ROS 2 Iron (u22.04) | [](https://build.ros2.org/job/Idev__mola__ubuntu_jammy_amd64/) | [](https://index.ros.org/search/?term=mola) |
| ROS 2 Jazzy (u24.04) | [](https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/) | [](https://index.ros.org/search/?term=mola) |
| ROS 2 Rolling (u24.04) | [](https://build.ros2.org/job/Rdev__mola__ubuntu_noble_amd64/) | [](https://index.ros.org/search/?term=mola) |
# mola
A Modular Optimization framework for Localization and mApping (MOLA).
This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the [MOLAorg](https://github.com/MOLAorg/) organization.
Refer to the [official documentation](https://docs.mola-slam.org/latest/) for build instructions, demos, API reference, etc.
## ROSCon Talk introducing MOLA
[Slides](https://docs.google.com/presentation/d/1Zg1saZCxlE49jZ4SxPBLaRh7WUYGmfC0fiKUunJg-dA/edit?usp=drivesdk)
Video: TBD
## Individual package build status
Note: Rows within each cell are for ``amd64`` and ``arm64`` architectures.
| Package | ROS 2 Humble
BinBuild | ROS 2 Iron
BinBuild | ROS 2 Jazzy
BinBuild | ROS 2 Rolling
BinBuild |
| --- | --- | --- | --- | --- |
| kitti_metrics_eval | [](https://build.ros2.org/job/Hbin_uJ64__kitti_metrics_eval__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__kitti_metrics_eval__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__kitti_metrics_eval__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__kitti_metrics_eval__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__kitti_metrics_eval__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__kitti_metrics_eval__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__kitti_metrics_eval__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__kitti_metrics_eval__ubuntu_noble_arm64__binary/) |
| mola | [](https://build.ros2.org/job/Hbin_uJ64__mola__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/) |
| mola_bridge_ros2 | [](https://build.ros2.org/job/Hbin_uJ64__mola_bridge_ros2__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_bridge_ros2__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_bridge_ros2__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_bridge_ros2__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/) |
| mola_demos | [](https://build.ros2.org/job/Hbin_uJ64__mola_demos__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_demos__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_demos__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_demos__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_demos__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_demos__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/) |
| mola_imu_preintegration | [](https://build.ros2.org/job/Hbin_uJ64__mola_imu_preintegration__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_imu_preintegration__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_imu_preintegration__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_imu_preintegration__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_imu_preintegration__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_imu_preintegration__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_imu_preintegration__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_imu_preintegration__ubuntu_noble_arm64__binary/) |
| mola_input_euroc_dataset | [](https://build.ros2.org/job/Hbin_uJ64__mola_input_euroc_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_euroc_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_input_euroc_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_input_euroc_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_input_euroc_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_euroc_dataset__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_input_euroc_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_euroc_dataset__ubuntu_noble_arm64__binary/) |
| mola_input_kitti360_dataset | [](https://build.ros2.org/job/Hbin_uJ64__mola_input_kitti360_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_kitti360_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_input_kitti360_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_input_kitti360_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_input_kitti360_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_kitti360_dataset__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_input_kitti360_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_kitti360_dataset__ubuntu_noble_arm64__binary/) |
| mola_input_kitti_dataset | [](https://build.ros2.org/job/Hbin_uJ64__mola_input_kitti_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_kitti_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_input_kitti_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_input_kitti_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_input_kitti_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_kitti_dataset__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_input_kitti_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_kitti_dataset__ubuntu_noble_arm64__binary/) |
| mola_input_mulran_dataset | [](https://build.ros2.org/job/Hbin_uJ64__mola_input_mulran_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_mulran_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_input_mulran_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_input_mulran_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_input_mulran_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_mulran_dataset__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_input_mulran_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_mulran_dataset__ubuntu_noble_arm64__binary/) |
| mola_input_paris_luco_dataset | [](https://build.ros2.org/job/Hbin_uJ64__mola_input_paris_luco_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_paris_luco_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_input_paris_luco_dataset__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_input_paris_luco_dataset__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_input_paris_luco_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_paris_luco_dataset__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_input_paris_luco_dataset__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_paris_luco_dataset__ubuntu_noble_arm64__binary/) |
| mola_input_rawlog | [](https://build.ros2.org/job/Hbin_uJ64__mola_input_rawlog__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_rawlog__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_input_rawlog__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_input_rawlog__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_input_rawlog__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_rawlog__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_input_rawlog__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_rawlog__ubuntu_noble_arm64__binary/) |
| mola_input_rosbag2 | [](https://build.ros2.org/job/Hbin_uJ64__mola_input_rosbag2__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_rosbag2__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_input_rosbag2__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_input_rosbag2__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_input_rosbag2__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_rosbag2__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_input_rosbag2__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_rosbag2__ubuntu_noble_arm64__binary/) |
| mola_kernel | [](https://build.ros2.org/job/Hbin_uJ64__mola_kernel__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_kernel__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_kernel__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_kernel__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_kernel__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_kernel__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_kernel__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_kernel__ubuntu_noble_arm64__binary/) |
| mola_launcher | [](https://build.ros2.org/job/Hbin_uJ64__mola_launcher__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_launcher__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_launcher__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_launcher__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/) |
| mola_metric_maps | [](https://build.ros2.org/job/Hbin_uJ64__mola_metric_maps__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_metric_maps__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_metric_maps__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_metric_maps__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_metric_maps__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_metric_maps__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_metric_maps__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_metric_maps__ubuntu_noble_arm64__binary/) |
| mola_msgs | [](https://build.ros2.org/job/Hbin_uJ64__mola_msgs__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_msgs__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_msgs__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_msgs__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_msgs__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_msgs__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_msgs__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_msgs__ubuntu_noble_arm64__binary/) |
| mola_navstate_fg | [](https://build.ros2.org/job/Hbin_uJ64__mola_navstate_fg__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_navstate_fg__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_navstate_fg__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_navstate_fg__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_navstate_fg__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_navstate_fg__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_navstate_fg__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_navstate_fg__ubuntu_noble_arm64__binary/) |
| mola_navstate_fuse | [](https://build.ros2.org/job/Hbin_uJ64__mola_navstate_fuse__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_navstate_fuse__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_navstate_fuse__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_navstate_fuse__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_navstate_fuse__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_navstate_fuse__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_navstate_fuse__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_navstate_fuse__ubuntu_noble_arm64__binary/) |
| mola_pose_list | [](https://build.ros2.org/job/Hbin_uJ64__mola_pose_list__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_pose_list__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_pose_list__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_pose_list__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/) |
| mola_relocalization | [](https://build.ros2.org/job/Hbin_uJ64__mola_relocalization__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_relocalization__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_relocalization__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_relocalization__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/) |
| mola_traj_tools | [](https://build.ros2.org/job/Hbin_uJ64__mola_traj_tools__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_traj_tools__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_traj_tools__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_traj_tools__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/) |
| mola_viz | [](https://build.ros2.org/job/Hbin_uJ64__mola_viz__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_viz__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_viz__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_viz__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_viz__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_viz__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_viz__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_viz__ubuntu_noble_arm64__binary/) |
| mola_yaml | [](https://build.ros2.org/job/Hbin_uJ64__mola_yaml__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_yaml__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Ibin_uJ64__mola_yaml__ubuntu_jammy_amd64__binary/)
[](https://build.ros2.org/job/Ibin_ujv8_uJv8__mola_yaml__ubuntu_jammy_arm64__binary/) | [](https://build.ros2.org/job/Jbin_uN64__mola_yaml__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_yaml__ubuntu_noble_arm64__binary/) | [](https://build.ros2.org/job/Rbin_uN64__mola_yaml__ubuntu_noble_amd64__binary/)
[](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_yaml__ubuntu_noble_arm64__binary/) |
## Citations
The latest publications on MOLA are ([PDF](https://arxiv.org/abs/2407.20465)).
```bibtex
@misc{blanco2024mola,
title={A flexible framework for accurate LiDAR odometry, map manipulation, and localization},
author={José Luis Blanco-Claraco},
year={2024},
eprint={2407.20465},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2407.20465},
}
```
MOLA was initially presented in 2019 in ([PDF](http://www.roboticsproceedings.org/rss15/p43.pdf)):
```bibtex
@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}
}
```
## License
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. See the [official documentation](https://docs.mola-slam.org/latest/).
## Star History
[](https://star-history.com/#MOLAorg/mola&Date)