:robot: MOLA :compass: _{Modular Optimization framework for Localization and mApping}

A modern, modular C++ and ROS 2 framework for Localization and SLAM.
Configurable pipelines for LiDAR Odometry, LIO, and more.

Why MOLA  |  Solutions  |  Plans & Pricing  |  Documentation

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)

EOL Distro	Last Release
ROS 2 Iron (u22.04)

🤖 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 organization.

Refer to the official documentation 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:

Lidar-Odometry (LO) demo with KITTI:

ROSCon Talk introducing MOLA

Video (Slides):

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 | | --- | --- | --- | --- | --- | | mola |

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| | mola_bridge_ros2 |

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| | mola_demos |

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| | mola_input_lidar_bin_dataset |

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| | mola_input_rawlog |

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| | mola_input_rosbag2 |

| [![Build Status](https://build.ros2.org/job/Jbin_uN64__