mola_kernel

MOLA kernel library, providing the definition of essential virtual interfaces and data types.

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.

Changelog for package mola_kernel

2.5.0 (2026-02-14)

• Merge pull request #104 from MOLAorg/feat/better-regex Explain error on bad regex
• Explain error on bad regex
• Merge pull request #103 from MOLAorg/feat/RegexCache Add utility RegexCache
• Add utility RegexCache
• Add has_converged_localization() method for state estimation
• Merge pull request #100 from MOLAorg/fix/remove-mrpt-deprecated-maps Remove use of mrpt deprecated maps
• Avoid use of deprecated mrpt::maps classes
• Merge pull request #99 from MOLAorg/feat/ros2-bridge-pub-geographic ROS2 bridge: publish geographic poses too
• ros2 bridge: use geographic_msgs, store the last georeference info internally, and publish georef poses merge of these commits:
  • Enable many more clang-tidy checks
  • lint clean
  • implement publishing georeferenced poses
  • mola-viz: fix potential crash on edge case with all points having NaN value
  • FIX: potential crash if no MapServer is present and map services are called
• Contributors: Jose Luis Blanco-Claraco

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

• Send sensor_rate_decimation to Viz
• interfaces/MapSourceBase: Add keep_last_one_only property
• Make use of ConstPtr across API
• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

• Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
• MolaViz: Add method clear_all_point_clouds_with_decay()
• MolaViz: Add support for inserting clouds with decay_time
• Large clean up of unused code from older MOLA versions. In particular, all abstract definitions of factors, entities, and WorldModel have been removed. It seems more natural and efficient to keep them in the specific SLAM modules.
• Allow extra parameters in mola_viz per-sensor preview windows
• fix clang-format
• Modernize copyright notice
• Remove old code that was needed to support very old MRPT versions
• Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

• MapSourceBase: add a new optional field "metadata"
• NavStateFilter interface: Now is a RawDataConsumer too
• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

• Update Viz interface: add methods to run arbitrary Scene manipulation and camera orthographic mode
• Update copyright year
• fix reversed logic
• clang-format fix
• Add mola::Synchronizer for grouping observations
• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

• code clean up: remove useless dtors, and mark the required copy ctors as deleted
• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

• fix: Correctly handling Livox cloud timestamps ("double"s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.
• modernize clang-format
• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

File truncated at 100 lines see the full file