LIDAR odometry component based on the MOLA and MRPT frameworks, compatible with ROS 2.
This repository provides a C++ library mola_lidar_odometry implementing LIDAR
odometry. Sensor input is provided via MOLA components, and ROS 2 example launch files are
provided in ros2-launchs.
A CLI interface mola-lidar-odometry-cli is also provided for running on
offline datasets.
Refer to: https://docs.mola-slam.org/latest/#installing
See: https://docs.mola-slam.org/
| Distro | Develop branch | Releases | Stable release |
|---|---|---|---|
| ROS2 Humble (u22.04) | amd64 arm64 |
||
| ROS2 Iron (u22.04) | amd64 arm64 |
||
| ROS 2 Jazzy @ u24.04 | amd64 arm64 |
||
| ROS 2 Rolling (u24.04) | amd64 arm64 |
José Luis Blanco-Claraco, A flexible framework for accurate LiDAR odometry, map manipulation, and localization,
ArXiV 2024.
https://arxiv.org/abs/2407.20465
Copyright (C) 2018-2024 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.