|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
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Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mola_imu_preintegration at Robotics Stack Exchange
|
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.2 |
| License | GPLv3 |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes |
| Checkout URI | https://github.com/MOLAorg/mola_imu_preintegration.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-10-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
| 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 referencebase_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 aLocalVelocityBuffer.
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)
File truncated at 100 lines see the full file