LIDAR odometry component based on the MOLA and MRPT frameworks, compatible with ROS 2.
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.
Refer to: https://docs.mola-slam.org/latest/#installing
Lidar Inertial Odometry (LIO) demo with Oxford Spires:
Lidar Odometry (LO) demo with KITTI:
See: https://docs.mola-slam.org/
| Distro | Develop branch | Releases | Stable release |
|---|---|---|---|
| ROS2 Humble (u22.04) | amd64 arm64 |
 |
|
| ROS 2 Jazzy @ u24.04 | amd64 arm64 |
 |
|
| ROS 2 Kilted @ u24.04 | amd64 arm64 |
 |
|
| ROS 2 Rolling (u24.04) | amd64 arm64 |
 |
| EOL Distro | Last release |
|---|---|
| ROS2 Iron (u22.04) |  |
The latest publication on MOLA is (ArXiV).
@article{blanco2025mola_lo,
author = {Blanco-Claraco, Jose Luis},
title ={{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
journal = {The International Journal of Robotics Research},
volume = {44},
number = {9},
pages = {1553--1599},
year = {2025},
doi = {10.1177/02783649251316881},
URL = { https://doi.org/10.1177/02783649251316881},
eprint = {2407.20465},
}Copyright (C) 2018-2025 Jose Luis Blanco [email protected], 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.
