A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.
Why MOLA | Solutions | Plans & Pricing | Documentation
| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) | ||
| ROS 2 Jazzy (u24.04) | ||
| ROS 2 Kilted (u24.04) | ||
| ROS 2 Lyrical (u26.04) | ||
| ROS 2 Rolling (u26.04) |
| EOL Distro | Last Release |
|---|---|
| ROS 2 Iron (u22.04) |
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.
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Fully configurable YAML pipelines - no recompilation needed to change sensors, filters, or map layers
- 🎯 Flexible accuracy: fast real-time navigation or survey-grade (<1 cm) mapping
- 🌍 Map-less RTK-quality outdoor georeferencing with low-cost GNSS + LiDAR + IMU
- 🛠️ Rich
.mmmetric map ecosystem: viewer, LAS/PLY/TXT export, filtering, georeferencing tools - 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++
Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:
Lidar-Odometry (LO) demo with GrandTour legged dataset:
Lidar-Odometry (LO) demo with KITTI:
Video (Slides):
Binary package build status per package and ROS 2 distro:
| Package | ROS 2 Humble (u22.04) |
ROS 2 Jazzy (u24.04) |
ROS 2 Kilted (u24.04) |
ROS 2 Lyrical (u26.04) |
ROS 2 Rolling (u26.04) |
|---|---|---|---|---|---|
| mola | |||||
| mola_bridge_ros2 |