MOLAorg/mola

A Modular Optimization framework for Localization and mApping (MOLA)

What it solves

MOLA provides a high-performance, modular framework for robotics localization and mapping (SLAM). It addresses the need for flexible pipelines that can be easily configured for different sensors and accuracy requirements without requiring constant code recompilation.

How it works

It is a C++ and ROS 2 based framework that uses configurable YAML pipelines to manage sensor fusion, filters, and map layers. It supports various modalities including LiDAR Odometry (LO) and LiDAR-Inertial Odometry (LIO), and can integrate low-cost GNSS, LiDAR, and IMU for outdoor georeferencing.

Who it’s for

Robotics developers and researchers who need a scalable system for real-time navigation or high-precision survey-grade mapping.

Highlights

  • Modular Configuration: Change sensors, filters, or map layers via YAML files without recompiling.
  • Flexible Accuracy: Supports both fast real-time navigation and survey-grade mapping with sub-centimeter precision.
  • Broad Compatibility: ROS 2 ready (Humble, Jazzy, Kilted, Rolling) and usable as a standalone C++ library.
  • Comprehensive Ecosystem: Includes a metric map ecosystem with viewers and export options for LAS, PLY, and TXT formats.

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