# mola

**Repository Path**: light169/mola

## Basic Information

- **Project Name**: mola
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: develop
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-08-27
- **Last Updated**: 2026-08-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<h1 align="center">
  :robot: MOLA :compass:  
  <br/>
  <sub>Modular Optimization framework for Localization and mApping</sub>
</h1>

<p align="center">
  <a href="https://docs.mola-slam.org/latest/">
    <img alt="Docs" src="https://img.shields.io/badge/docs-latest-brightgreen.svg?style=flat-square" />
  </a>
  <a href="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml">
    <img alt="CI ROS" src="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml/badge.svg?style=flat-square" />
  </a>
  <a href="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml">
    <img alt="CI Check clang-format" src="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml/badge.svg?style=flat-square" />
  </a>
  <a href="LICENSE">
    <img alt="License" src="https://img.shields.io/badge/license-GPL--3.0-blue?style=flat-square" />
  </a>
</p>

<p align="center">
  A modern, modular C++ and ROS 2 framework for <b>Localization</b> and <b>SLAM</b>.  
  Configurable pipelines for LiDAR Odometry, LIO, and more.
</p>

<p align="center">
  <a href="https://docs.mola-slam.org/latest/why-mola.html"><b>Why MOLA</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/solutions.html"><b>Solutions</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/pricing.html"><b>Plans &amp; Pricing</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/"><b>Documentation</b></a>
</p>

---




| Distro | Build dev | Release |
| --- | --- | --- |
| ROS 2 Humble (u22.04) | [![Build Status](https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/humble/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Jazzy (u24.04) | [![Build Status](https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/) | [![Version](https://img.shields.io/ros/v/jazzy/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Kilted (u24.04) | [![Build Status](https://build.ros2.org/job/Kdev__mola__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Kdev__mola__ubuntu_noble_amd64/) | [![Version](https://img.shields.io/ros/v/kilted/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Lyrical (u26.04) | [![Build Status](https://build.ros2.org/job/Ldev__mola__ubuntu_resolute_amd64/badge/icon)](https://build.ros2.org/job/Ldev__mola__ubuntu_resolute_amd64/) | [![Version](https://img.shields.io/ros/v/lyrical/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Rolling (u26.04) | [![Build Status](https://build.ros2.org/job/Rdev__mola__ubuntu_resolute_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mola__ubuntu_resolute_amd64/) | [![Version](https://img.shields.io/ros/v/rolling/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |

| EOL Distro | Last Release |
| --- | ---
| ROS 2 Iron (u22.04) | [![Version](https://img.shields.io/ros/v/iron/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |


## 🤖 What is MOLA?
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](https://github.com/MOLAorg/) organization.

Refer to the [official documentation](https://docs.mola-slam.org/latest/) for build instructions, demos, API reference, etc.

## 🗺️ Features
- 📍 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 `.mm` metric map ecosystem: viewer, LAS/PLY/TXT export, filtering, georeferencing tools
- 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++

## 🚀 Demo videos

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:

![Peek 2025-10-10 10-29](https://github.com/user-attachments/assets/f3a83a42-a9d7-4007-b0a0-a87c13893c0e)

Lidar-Odometry (LO) demo with GrandTour legged dataset:

<img width="550" height="292" alt="mola-lio-legged-cons" src="https://github.com/user-attachments/assets/9899217b-760a-431d-8b03-2e2e5e681e4b" />

Lidar-Odometry (LO) demo with KITTI:

![kitti_demo_06](https://github.com/MOLAorg/mola/assets/5497818/76cf07e2-ab20-41a3-abc6-df5c5ba74b97)

## ROSCon Talk introducing MOLA
Video ([Slides](https://docs.google.com/presentation/d/1Zg1saZCxlE49jZ4SxPBLaRh7WUYGmfC0fiKUunJg-dA/edit?usp=drivesdk)):

[![MOLA ROSCon talk](https://img.youtube.com/vi/FkDnbfVyN2M/0.jpg)](https://www.youtube.com/watch?v=FkDnbfVyN2M)


## Individual package build status

Note: Rows within each cell are for ``amd64`` and ``arm64`` architectures.

| Package | ROS 2 Humble <br/> BinBuild |  ROS 2 Jazzy <br/> BinBuild |  ROS 2 Lyrical <br/> BinBuild |  ROS 2 Rolling <br/> BinBuild |
| --- | --- | --- | --- | --- |
| mola | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola__ubuntu_resolute_arm64__binary/)  | 
| mola_bridge_ros2 | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_bridge_ros2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_bridge_ros2__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_bridge_ros2__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_bridge_ros2__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_bridge_ros2__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_bridge_ros2__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_bridge_ros2__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_bridge_ros2__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_bridge_ros2__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_bridge_ros2__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_bridge_ros2__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_bridge_ros2__ubuntu_resolute_arm64__binary/)  | 
| mola_demos | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_demos__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_demos__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_demos__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_demos__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_demos__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_demos__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_demos__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_demos__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_demos__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_demos__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_demos__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_demos__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_demos__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_demos__ubuntu_resolute_arm64__binary/)  | 
| mola_input_lidar_bin_dataset | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_input_lidar_bin_dataset__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_input_lidar_bin_dataset__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_lidar_bin_dataset__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_lidar_bin_dataset__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_input_lidar_bin_dataset__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_input_lidar_bin_dataset__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_lidar_bin_dataset__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_lidar_bin_dataset__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_input_lidar_bin_dataset__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_input_lidar_bin_dataset__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_lidar_bin_dataset__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_lidar_bin_dataset__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_input_lidar_bin_dataset__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_input_lidar_bin_dataset__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_lidar_bin_dataset__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_lidar_bin_dataset__ubuntu_resolute_arm64__binary/)  | 
| mola_input_rawlog | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_input_rawlog__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_input_rawlog__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_rawlog__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_rawlog__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_input_rawlog__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_input_rawlog__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_rawlog__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_rawlog__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_input_rawlog__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_input_rawlog__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_rawlog__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_rawlog__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_input_rawlog__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_input_rawlog__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_rawlog__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_rawlog__ubuntu_resolute_arm64__binary/)  | 
| mola_input_rosbag2 | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_input_rosbag2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_input_rosbag2__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_rosbag2__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_rosbag2__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_input_rosbag2__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_input_rosbag2__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_rosbag2__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_rosbag2__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_input_rosbag2__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_input_rosbag2__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_rosbag2__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_rosbag2__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_input_rosbag2__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_input_rosbag2__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_rosbag2__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_rosbag2__ubuntu_resolute_arm64__binary/)  | 
| mola_input_video | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_input_video__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_input_video__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_video__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_video__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_input_video__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_input_video__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_video__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_video__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_input_video__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_input_video__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_video__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_input_video__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_input_video__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_input_video__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_video__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_input_video__ubuntu_resolute_arm64__binary/)  | 
| mola_kernel | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_kernel__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_kernel__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_kernel__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_kernel__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_kernel__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_kernel__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_kernel__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_kernel__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_kernel__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_kernel__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_kernel__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_kernel__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_kernel__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_kernel__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_kernel__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_kernel__ubuntu_resolute_arm64__binary/)  | 
| mola_launcher | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_launcher__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_launcher__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_launcher__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_launcher__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_launcher__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_launcher__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_launcher__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_launcher__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_launcher__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_launcher__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_launcher__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_launcher__ubuntu_resolute_arm64__binary/)  | 
| mola_metric_maps | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_metric_maps__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_metric_maps__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_metric_maps__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_metric_maps__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_metric_maps__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_metric_maps__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_metric_maps__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_metric_maps__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_metric_maps__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_metric_maps__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_metric_maps__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_metric_maps__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_metric_maps__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_metric_maps__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_metric_maps__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_metric_maps__ubuntu_resolute_arm64__binary/)  | 
| mola_msgs | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_msgs__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_msgs__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_msgs__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_msgs__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_msgs__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_msgs__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_msgs__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_msgs__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_msgs__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_msgs__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_msgs__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_msgs__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_msgs__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_msgs__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_msgs__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_msgs__ubuntu_resolute_arm64__binary/)  | 
| mola_pose_list | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_pose_list__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_pose_list__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_pose_list__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_pose_list__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_pose_list__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_pose_list__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_pose_list__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_pose_list__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_pose_list__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_pose_list__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_pose_list__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_pose_list__ubuntu_resolute_arm64__binary/)  | 
| mola_relocalization | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_relocalization__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_relocalization__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_relocalization__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_relocalization__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_relocalization__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_relocalization__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_relocalization__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_relocalization__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_relocalization__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_relocalization__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_relocalization__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_relocalization__ubuntu_resolute_arm64__binary/)  | 
| mola_traj_tools | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_traj_tools__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_traj_tools__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_traj_tools__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_traj_tools__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_traj_tools__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_traj_tools__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_traj_tools__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_traj_tools__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_traj_tools__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_traj_tools__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_traj_tools__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_traj_tools__ubuntu_resolute_arm64__binary/)  | 
| mola_viz | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_viz__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_viz__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_viz__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_viz__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_viz__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_viz__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_viz__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_viz__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_viz__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_viz__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_viz__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_viz__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_viz__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_viz__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_viz__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_viz__ubuntu_resolute_arm64__binary/)  | 
| mola_yaml | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_yaml__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_yaml__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_yaml__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_yaml__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_yaml__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_yaml__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_yaml__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_yaml__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Lbin_uR64__mola_yaml__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__mola_yaml__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_yaml__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Lbin_armv8_uRv8__mola_yaml__ubuntu_resolute_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uR64__mola_yaml__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__mola_yaml__ubuntu_resolute_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_yaml__ubuntu_resolute_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uRv8__mola_yaml__ubuntu_resolute_arm64__binary/)  | 




## Citations

The latest publications on MOLA are ([ArXiV](https://arxiv.org/abs/2407.20465)).

```bibtex
@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    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 = {https://doi.org/10.1177/02783649251316881},
}
```

MOLA was initially presented in 2019 in ([PDF](http://www.roboticsproceedings.org/rss15/p43.pdf)):

```bibtex
@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 
```

## License
MOLA follows an **Open Core** model. Core modules are released under the GNU GPL v3 license, while foundational libraries (MRPT, mp2p_icp) are BSD-3.

**Commercial use:** Companies needing to deploy MOLA in closed-source products can obtain a commercial license ([MOLA Pro](https://docs.mola-slam.org/latest/pricing.html)).

See the [Plans & Pricing](https://docs.mola-slam.org/latest/pricing.html) page for details on Community vs Pro editions.

Contributions require acceptance of the Contributor License Agreement (CLA).

## Star History

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