Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

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
*/