Mola

<h1 align="center"> :robot: MOLA :compass: <br/> _{Modular Optimization framework for Localization and mApping} </h1> <p align="center"> <a href="https://docs.mola-slam.org/latest/"> <img alt="Docs" src="https://img.shields.io/badge/docs-latest-brightgreen.svg?style=flat-square" /> </a> <a href="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml"> <img alt="CI ROS" src="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml/badge.svg?style=flat-square" /> </a> <a href="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml"> <img alt="CI Check clang-format" src="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml/badge.svg?style=flat-square" /> </a> <a href="LICENSE"> <img alt="License" src="https://img.shields.io/badge/license-GPL--3.0-blue?style=flat-square" /> </a> </p> <p align="center"> A modern, modular C++ and ROS 2 framework for <b>Localization</b> and <b>SLAM</b>. Configurable pipelines for LiDAR Odometry, LIO, and more. </p>

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| Distro | Build dev | Release | | --- | --- | --- | | ROS 2 Humble (u22.04) | | | | ROS 2 Jazzy (u24.04) | | | | ROS 2 Kilted (u24.04) | | | | ROS 2 Rolling (u24.04) | | |

| EOL Distro | Last Release | | --- | --- | ROS 2 Iron (u22.04) | |

🤖 What is MOLA?

MOLA (Modular Optimization framework for Localization and mApping) is a modular, extensible, and high-performance framework for robotics localization and 🗺️ mapping.

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.

🗺️ Features

• 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
• 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
• 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++

🚀 Demo videos

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:

Lidar-Odometry (LO) demo with KITTI:

ROSCon Talk introducing MOLA

Video (Slides):

Individual package build status

Note: Rows within each cell are for amd64 and arm64 architectures.

| Package | ROS 2 Humble <br/> BinBuild | ROS 2 Jazzy <br/> BinBuild | ROS 2 Kilted <br/> BinBuild | ROS 2 Rolling <br/> BinBuild | | --- | --- | --- | --- | --- | | kitti_metrics_eval | <br> | <br> | <br> | <br> | | mola | <br> | <br> | <br> | <br> | | mola_bridge_ros2 | <br> | <br> | <br> | <br> | | mola_demos | <br> | <br> | <br> [![Build Status](https://build.ros2.org/job/Kbin_unv8_uNv8__mola_demos__