| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | ||
| ROS 2 Jazzy (u24.04) | ||
| ROS 2 Kilted (u24.04) | ||
| ROS 2 Rolling (u24.04) |
Implementations of the MOLA virtual state estimation API for robots / vehicles.
These packages are provided here:
-
mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for LO/LIO with most automotive datasets. -
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc. -
mola_georeferencing: C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools. -
mola_gtsam_factors: C++ library with reusable GTSAM Factors useful in georeferencing and state-estimation MOLA modules
Refer to the repository documentation for more details, demos, etc.
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Kilted BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|---|
| mola_georeferencing | ||||
| mola_gtsam_factors | ||||
| mola_state_estimation | ||||
| mola_state_estimation_simple | ||||
| mola_state_estimation_smoother |
mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module.
Other options available upon request.
See the official project documentation.
Contributions require acceptance of the Contributor License Agreement (CLA).