A modern, modular C++ and ROS 2 framework for Localization and SLAM. Configurable pipelines for LiDAR Odometry, LIO, and more.

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

EOL Distro	Last Release
ROS 2 Iron (u22.04)

MOLA (Modular Optimization framework for Localization and mApping) is a modular, extensible, and high-performance framework for robotics localization and 🗺️ mapping.

This repository contains the base open-sourced packages for the MOLA project. Other packages exist under the MOLAorg organization.

Refer to the official documentation for build instructions, demos, API reference, etc.

• 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
• 🧩 Plug-and-play modules to build configurable ICP and SLAM pipelines
• 🤖 ROS 2 ready (Humble, Jazzy, Kilted, Rolling) but also usable from standalone pure C++

Lidar-Inertial-Odometry (LIO) demo with Oxford Spires:

Lidar-Odometry (LO) demo with KITTI:

Video (Slides):

Note: Rows within each cell are for amd64 and arm64 architectures.

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
kitti_metrics_eval
mola
mola_bridge_ros2
mola_demos
mola_input_euroc_dataset
mola_input_kitti360_dataset
mola_input_kitti_dataset
mola_input_lidar_bin_dataset
mola_input_mulran_dataset
mola_input_paris_luco_dataset
mola_input_rawlog
mola_input_rosbag2
mola_input_video
mola_kernel
mola_launcher
mola_metric_maps
mola_msgs
mola_pose_list
mola_relocalization
mola_traj_tools
mola_viz
mola_yaml

The latest publications on MOLA are (ArXiV).

@article{blanco2025mola_lo,
    author = {Jose Luis Blanco-Claraco},
    title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
    journal = {The International Journal of Robotics Research},
    volume = {44},
    number = {9},
    pages = {1553--1599},
    year = {2025},
    doi = {10.1177/02783649251316881},
    URL = { https://doi.org/10.1177/02783649251316881},
    eprint = {https://doi.org/10.1177/02783649251316881},
}

MOLA was initially presented in 2019 in (PDF):

@INPROCEEDINGS{Blanco-Claraco-RSS-19, 
    AUTHOR    = {Jose Luis Blanco-Claraco}, 
    TITLE     = {{A Modular Optimization Framework for Localization and Mapping}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.043} 
} 

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request. Some modules are released under BSD-3. See the official documentation.