Repositories list

• mola_input_ouster

  Public
  Provides a MOLA RawDataSourceBase module for Ouster LiDAR sensors using the native Ouster C++ SDK, without requiring any ROS middleware.

  Apache License 2.0

  •0•1•0•0•Updated Mar 29, 2026Mar 29, 2026

• mola_mapper_2d

  Public
  2D SLAM system for the MOLA framework

  C++

  •

  GNU General Public License v3.0

  •1•5•0•0•Updated Mar 24, 2026Mar 24, 2026

• mola

  Public
  A Modular Optimization framework for Localization and mApping (MOLA)

  computer-visionlocalizationcxx+ 9

  computer-visionlocalizationcxxtoolkitlidardatasetsslammobile-robotsgraph-slamvisual-slam+ 2

  C++

  •

  Other

  •126•883•31•1•Updated Mar 24, 2026Mar 24, 2026

• mola_state_estimation

  Public
  MOLA implementations of the virtual state estimation API for robots / vehicles

  C++

  •

  GNU General Public License v3.0

  •2•11•1•0•Updated Mar 24, 2026Mar 24, 2026

• mola_sm_loop_closure

  Public
  Offline tool for loop-closure on simple-maps

  C++

  •

  GNU General Public License v3.0

  •2•2•0•0•Updated Mar 24, 2026Mar 24, 2026

• mola_lidar_odometry

  Public
  MOLA LiDAR odometry and localization

  localizationcpprobotics+ 7

  localizationcpproboticsmappingroslidarslammobile-roboticsros2lidar-point-cloud

  C++

  •

  GNU General Public License v3.0

  •19•103•4•1•Updated Mar 24, 2026Mar 24, 2026

• mola_imu_preintegration

  Public
  Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes

  C++

  •

  GNU General Public License v3.0

  •3•16•0•0•Updated Mar 24, 2026Mar 24, 2026

• mp2p_icp

  Public
  Multi primitive-to-primitive (MP2P) ICP algorithms in C++

  registrationslampoint-clouds+ 1

  registrationslampoint-cloudsicp

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •30•186•0•0•Updated Mar 24, 2026Mar 24, 2026

• mola_vision

  Public
  C++ library for low-level vision: keypoint detection and tracking

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •0•9•0•0•Updated Mar 19, 2026Mar 19, 2026

• ros2_documentation

  Public
  ROS 2 docs repository

  Python

  •

  Creative Commons Attribution 4.0 International

  •1.2k•0•0•0•Updated Mar 12, 2026Mar 12, 2026

• pipelines-editor

  Public
  HTML

  •0•0•0•0•Updated Feb 15, 2026Feb 15, 2026

• mola_gnss_to_markers

  Public
  Takes GNSS (GPS) readings, a MOLA georeferenced map, and publishes markers to visualize the datums as ellipsoids on the map

  roboticsgpsros+ 4

  roboticsgpsrosslammobile-roboticsros2gnns

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •3•3•0•0•Updated Dec 26, 2025Dec 26, 2025

• mola_kiss_icp_wrapper

  Public
  Wrapper to use Kiss ICP on MOLA dataset sources via CLI

  C++

  •

  MIT License

  •0•2•0•0•Updated Oct 25, 2025Oct 25, 2025

• mola_common

  Public
  Common CMake scripts to all MOLA modules

  CMake

  •

  BSD 3-Clause "New" or "Revised" License

  •5•0•0•0•Updated Oct 21, 2025Oct 21, 2025

• mola_input_rosbag1

  Public
  MOLA DataSource for ROS1 bag files that does not need a ROS1 installation

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •0•0•0•0•Updated Aug 29, 2025Aug 29, 2025

• mola_test_datasets

  Public
  Small SLAM dataset extracts used for demos or unit tests from the main MOLA repository

  roboticspoint-clouddatasets+ 2

  roboticspoint-clouddatasetsslamros2

  HTML

  •

  BSD 3-Clause "New" or "Revised" License

  •4•0•0•0•Updated Jul 22, 2025Jul 22, 2025

• rosdistro

  Public
  This repo maintains a lists of repositories for each ROS distribution

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •2.8k•0•0•0•Updated May 25, 2025May 25, 2025

• .github

  Public
  0•0•0•0•Updated Apr 19, 2025Apr 19, 2025

• mola_benchmark_metric_maps_kitti

  Public
  C++

  •

  MIT License

  •0•0•0•0•Updated Sep 8, 2024Sep 8, 2024

• mola_warehouse_pf_tutorial

  Public
  Tutorial launch and map files for localization with MOLA-generated maps

  Python

  •

  Apache License 2.0

  •0•5•0•0•Updated Sep 7, 2024Sep 7, 2024

• mola_simple_wrapper

  Public
  MOLA module wrapper for: A simple LiDAR odometry method reducing the complexity and configuration burden of localization algorithms.

  C++

  •

  MIT License

  •15•1•0•0•Updated Sep 2, 2024Sep 2, 2024

• docker-mola-lo-test

  Public
  Test to build and run MOLA LiDAR odometry in a docker container

  Dockerfile

  •

  MIT License

  •0•1•0•0•Updated Jul 31, 2024Jul 31, 2024

• static-media

  Public
  MOLA static media files for use in README.md (videos, GIFs,...)

  HTML

  •

  MIT License

  •0•0•0•0•Updated Feb 4, 2024Feb 4, 2024

• mola_demos

  Public archive
  Demo and example launch files for MOLA

  CMake

  •

  BSD 3-Clause "New" or "Revised" License

  •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

• mola_yaml

  Public archive
  YAML helper library common to MOLA modules

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

• mola_viz

  Public archive
  GUI for MOLA

  C++

  •

  GNU General Public License v3.0

  •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

• mola_launcher

  Public archive
  Launcher app for MOLA systems

  C++

  •

  GNU General Public License v3.0

  •1•0•0•0•Updated Dec 15, 2023Dec 15, 2023

• mola_input_ros2

  Public archive
  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

• mola_input_rawlog

  Public archive
  Offline RawDataSource from MRPT rawlog datasets

  C++

  •

  GNU General Public License v3.0

  •1•0•0•0•Updated Dec 15, 2023Dec 15, 2023

• mola_input_mulran_dataset

  Public archive
  MOLA input module for Mulran datasets

  C++

  •

  GNU General Public License v3.0

  •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023