![]() |
mola_imu_preintegration package from mola_imu_preintegration repomola_imu_preintegration |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
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 | 1.11.0 |
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 | 2025-09-29 |
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
1.11.0 (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)
1.0.6 (2024-06-21)
1.0.5 (2024-05-28)
1.0.4 (2024-05-14)
- bump cmake_minimum_required to 3.5
- Contributors: Jose Luis Blanco-Claraco
1.0.3 (2024-04-22)
- Update docs
- Fix package.xml website URL
- Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
1.0.1 (2024-03-28)
1.0.0 (2024-03-19)
- API changes for new package mola_navstate_fuse
- Contributors: Jose Luis Blanco-Claraco
0.2.2 (2023-09-08)
- Update copyright year
- Correct references to license
- Ported to ROS2 colcon build system
File truncated at 100 lines see the full file