| 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.