| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) |  |
|
| ROS 2 Jazzy (u24.04) |  |
|
| ROS 2 Rolling (u24.04) |  |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) |  |
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 organization.
Refer to the official documentation for build instructions, demos, API reference, etc.
Video (Slides):
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|
| kitti_metrics_eval | |||
| mola | |||
| mola_bridge_ros2 | |||
| mola_demos | |||
| mola_input_euroc_dataset | |||
| mola_input_kitti360_dataset | |||
| mola_input_kitti_dataset | |||
| mola_input_mulran_dataset | |||
| mola_input_paris_luco_dataset | |||
| mola_input_rawlog | |||
| mola_input_rosbag2 | |||
| mola_kernel | |||
| mola_launcher | |||
| mola_metric_maps | |||
| mola_msgs | |||
| mola_pose_list | |||
| mola_relocalization | |||
| mola_traj_tools | |||
| mola_viz | |||
| mola_yaml |
The latest publications on MOLA are (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},
}MOLA was initially presented in 2019 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. See the official documentation.