MOLA Academic Datasets
_{Input modules for well-known academic SLAM/odometry datasets}

ROS 2 / C++ packages providing MOLA RawDataSource interfaces for widely-used academic robotics datasets.

Documentation  |  MOLA core repo

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Packages

Package	Dataset
mola_input_euroc_dataset	EuRoC MAV stereo+IMU sequences
mola_input_kitti_dataset	KITTI odometry/SLAM benchmark
mola_input_kitti360_dataset	KITTI-360 panoramic driving dataset
mola_input_mulran_dataset	MulRan urban LiDAR sequences
mola_input_paris_luco_dataset	Paris-Luco outdoor LiDAR dataset
kitti_metrics_eval	KITTI benchmark evaluation tools

All packages implement the mola_kernel::RawDataSourceBase interface and are plug-and-play with any MOLA pipeline.

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)

Installation (recommended)

sudo apt install ros-$ROS_DISTRO-mola-academic-datasets

And see also the general installation instructions for MOLA.

Build

With ROS 2

Installing from apt is strongly recommended, but if you want to build from sources:

cd ~/ros2_ws/src
git clone https://github.com/MOLAorg/mola_academic_datasets.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

Standalone (CMake)

git clone https://github.com/MOLAorg/mola_academic_datasets.git
cmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo
cmake --build build

Dependencies

• MOLA core (mola_kernel, mola_yaml, etc.)
• MRPT ≥ 2.15.0
• ROS 2 Humble / Jazzy / Rolling (optional, for ROS 2 integration)

Individual package build status

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

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Lyrical BinBuild	ROS 2 Rolling BinBuild
kitti_metrics_eval
mola_academic_datasets
mola_input_euroc_dataset
mola_input_kitti360_dataset
mola_input_kitti_dataset
mola_input_mulran_dataset
mola_input_paris_luco_dataset

License

Each package carries its own license — refer to the LICENSE file or the <license> tag in each package.xml. Most packages are GPL-3.0.

Contributing

See CONTRIBUTING.md in the main MOLA repository.

By submitting a pull request you agree to the Contributor License Agreement.