Distro	Build dev	Build releases	Stable version
ROS 2 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

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

Copyright (C) 2018-2026 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.