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MOLAorg / mola_lidar_odometry

MOLA LiDAR odometry and localization
https://docs.mola-slam.org
GNU General Public License v3.0
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cpp lidar lidar-point-cloud localization mapping mobile-robotics robotics ros ros2 slam

readme

mola_lidar_odometry

LIDAR odometry component based on the MOLA and MRPT frameworks, compatible with ROS 2.

Contents

This repository provides a C++ library mola_lidar_odometry implementing LIDAR odometry. Sensor input is provided via MOLA components, and ROS 2 example launch files are provided in ros2-launchs.

A CLI interface mola-lidar-odometry-cli is also provided for running on offline datasets.

Build and install

Refer to: https://docs.mola-slam.org/latest/#installing

mola-slam-kitti-demo

Documentation and tutorials

See: https://docs.mola-slam.org/

ROS build farm status

Distro Develop branch Releases Stable release
ROS2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status		 Version
ROS2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status		 Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status		 Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status		 Version

Citation

José Luis Blanco-Claraco, A flexible framework for accurate LiDAR odometry, map manipulation, and localization, 
ArXiV 2024.
https://arxiv.org/abs/2407.20465

License

Copyright (C) 2018-2024 Jose Luis Blanco jlblanco@ual.es, University of Almeria

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.