Distro | Build dev | Release |
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ROS 2 Humble (u22.04) | ||
ROS 2 Iron (u22.04) | ||
ROS 2 Jazzy (u24.04) | ||
ROS 2 Rolling (u24.04) |
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.
The latest publications on MOLA are (PDF).
@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):
@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.