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_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

• mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
• mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
• mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
• mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

Changelog for package mola_imu_preintegration

1.13.2 (2025-10-20)

• Make use of ConstPtr in API
• Contributors: Jose Luis Blanco-Claraco

1.13.1 (2025-10-15)

• ImuCalibrator: Robust against invalid orientation data in Imu msgs
• Fix random failures in unit test
• CI: add running unit tests
• Contributors: Jose Luis Blanco-Claraco

1.13.0 (2025-10-11)

• FIX: Picked wrong reference stamp for integrating trajectories
• Add asString() debugging methods to sample structs
• Contributors: Jose Luis Blanco-Claraco

1.12.0 (2025-10-09)

• FIX: May leave trajectory poses without populating raw IMU data
• ImuInitialCalibrator: Use IMU orientation, if available
• LocalVelocityBuffer: reduce default max_time_window to 0.5 s
• ImuIntegrationParams: Add save_to() method, and finish missing load_from() fields
• Fix comment typos
• Readme: Add missing ROS build farm badges for bin packages
• Contributors: Jose Luis Blanco-Claraco

1.11.0 (2025-09-24)

• New unit tests for IMU integration
• Move everything into namespace mola::imu to avoid ns pollution
• Move LocalVelocityBuffer class here from mp2p_icp repository
• Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

• Add class ImuTransformer
• Update copyright notice
• Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
• Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

1.8.1 (2025-05-25)

• fixes for clang-tidy
• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

1.7.0 (2025-02-22)

1.6.1 (2025-01-10)

• Fix package.xml URLs
• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

• Depend on new mrpt_lib packages (deprecate mrpt2)
• Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

• Update clang-format style; add reformat bash script
• Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
• Fix ament_xmllint warnings in package.xml
• Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

• ament_lint_cmake: clean warnings
• Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

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