| Distro | Build dev | Release |
|---|---|---|
| ROS 2 Humble (u22.04) |  |
|
| ROS 2 Jazzy (u24.04) |  |
|
| ROS 2 Rolling (u24.04) |  |
Implementations of the MOLA virtual state estimation API for robots / vehicles.
Two packages are provided here:
-
mola_state_estimation_simple: An incremental updater of a vehicle kinematic state from incoming sensor observations based on a constant velocity model. Good enough for most automotive datasets. -
mola_state_estimation_smoother: An advanced method based on factor-graph smoothing, capable of fusing wheels odometry, IMUs, GNSS, etc.
Refer to the repository documentation for more details, demos, etc.
Note: Rows within each cell are for amd64 and arm64 architectures.
| Package | ROS 2 Humble BinBuild |
ROS 2 Jazzy BinBuild |
ROS 2 Rolling BinBuild |
|---|---|---|---|
| mola_imu_preintegration | |||
| mola_state_estimation | |||
| mola_state_estimation_simple | |||
| mola_state_estimation_smoother |
mola_state_estimation is released under the GNU GPL v3 license, except noted otherwise in each individual module.
Other options available upon request.
See the official project documentation.