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MOLAorg/mola

A Modular Optimization framework for Localization and mApping (MOLA)

57NOASSERTIONC++

View on GitHub Website

Stars: 964
Forks: 141
Watchers: 28
Open issues: 33
Contributors: 4

Star history, last 90 days+1 over 5 snapshots

2026-07-24 · 9632026-08-06 · 964

Star history, last 90 days
Date	Stars
2026-07-24	963
2026-07-25	963
2026-07-28	964
2026-07-30	964
2026-08-06	964

Today

— stars today

This week

— stars this week

This month

— stars this month

Momentum

0.0

growth rate 0.00%/day

From the README

<h1 align="center">
  :robot: MOLA :compass:  
  <br/>
  <sub>Modular Optimization framework for Localization and mApping</sub>
</h1>

<p align="center">
  <a href="https://docs.mola-slam.org/latest/">
    <img alt="Docs" src="https://img.shields.io/badge/docs-latest-brightgreen.svg?style=flat-square" />
  </a>
  <a href="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml">
    <img alt="CI ROS" src="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml/badge.svg?style=flat-square" />
  </a>
  <a href="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml">
    <img alt="CI Check clang-format" src="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml/badge.svg?style=flat-square" />
  </a>
  <a href="LICENSE">
    <img alt="License" src="https://img.shields.io/badge/license-GPL--3.0-blue?style=flat-square" />
  </a>
</p>

<p align="center">
  A modern, modular C++ and ROS 2 framework for <b>Localization</b> and <b>SLAM</b>.  
  Configurable pipelines for LiDAR Odometry, LIO, and more.
</p>

<p align="center">
  <a href="https://docs.mola-slam.org/latest/why-mola.html"><b>Why MOLA</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/solutions.html"><b>Solutions</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/pricing.html"><b>Plans &amp; Pricing</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/"><b>Documentation</b></a>
</p>

---




| Distro | Build dev | Release |
| --- | --- | --- |
| ROS 2 Humble (u22.04) | [![Build Status](https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/humble/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Jazzy (u24.04) | [![Build Status](https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/) | [![Version](https://img.shields.io/ros/v/jazzy/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Kilted (u24.04) | [![Build Status](https://build.ros2.org/job/Kdev__mola__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Kdev__mola__ubuntu_noble_amd64/) | [![Version](https://img.shields.io/ros/v/kilted/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Lyrical (u26.04) | [![Build Status](https://build.ros2.org/job/Ldev__mola__ubuntu_resolute_amd64/badge/icon)](https://build.ros2.org/job/Ldev__mola__ubuntu_resolute_amd64/) | [![Version](https://img.shields.io/ros/v/lyrical/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Rolling (u26.04) | [![Build Status](https://build.ros2.org/job/Rdev__mola__ubuntu_resolute_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mola__ubuntu_resolute_amd64/) | [![Version](https://img.shields.io/ros/v/rolling/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |

| EOL Distro | Last Release |
| --- | ---
| ROS 2 Iron (u22.04) | [![Version](https://img.shields.io/ros/v/iron/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |


## 🤖 What is MOLA?
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](https://github.com/MOLAorg/) organization.

Refer to the [official documentation](https://docs.mola-slam.org/latest/) for build instructions, demos, API reference, etc.

## 🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Fully configurable YAML pipelines - no recompilation needed to change sensors, filters, or map layers
- 🎯 Flexible accuracy: fast real-time navigation or survey-grade (<1 cm) mapping
- 🌍 Map-less RTK-quality outdoor georeferencing with low-cost GNSS + LiDAR +

Excerpt of 33,543 characters

Read on GitHub

Top contributors4 shown

jlblancoc
Jose Luis Blanco-Claraco · University of Almería
1.8k
dependabot[bot]
8
robin-zealrobotics
6
ahpinder
4

Quality score

Would you bet a product on this? Bounded 0–100 and slow moving.

57/10057

Maintenance: 90%; How recently the default branch was pushed to
Releases: 25%; Recency and cadence of tagged releases
Community: 15%; Contributor breadth and bus factor
Issue backlog: 60%; Open issues measured against the size of the audience
Documentation: 100%; README depth, plus a homepage and topics
Licensing: 35%; How freely the code can be adopted

What to know before adopting

No tagged releases
Bus factor of 1 — one contributor dominates
Licence terms need review before adoption.

Details

Created: 8 years ago
Last push: 9 days ago
Last release: none
Release tag: —
Releases in the last year: 0
Default branch: develop
Size: 6.0k KB
Owner type: Organization
Owner location: Spain
Discovered via: topic:computer-vision
First indexed: 13 days ago
Last synced: 9 days ago

MOLAorg/mola

A Modular Optimization framework for Localization and mApping (MOLA)

57NOASSERTIONC++

View on GitHub Website

Stars: 964
Forks: 141
Watchers: 28
Open issues: 33
Contributors: 4

Star history, last 90 days+1 over 5 snapshots

2026-07-24 · 9632026-08-06 · 964

Star history, last 90 days
Date	Stars
2026-07-24	963
2026-07-25	963
2026-07-28	964
2026-07-30	964
2026-08-06	964

Today

— stars today

This week

— stars this week

This month

— stars this month

Momentum

0.0

growth rate 0.00%/day

From the README

<h1 align="center">
  :robot: MOLA :compass:  
  <br/>
  <sub>Modular Optimization framework for Localization and mApping</sub>
</h1>

<p align="center">
  <a href="https://docs.mola-slam.org/latest/">
    <img alt="Docs" src="https://img.shields.io/badge/docs-latest-brightgreen.svg?style=flat-square" />
  </a>
  <a href="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml">
    <img alt="CI ROS" src="https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml/badge.svg?style=flat-square" />
  </a>
  <a href="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml">
    <img alt="CI Check clang-format" src="https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml/badge.svg?style=flat-square" />
  </a>
  <a href="LICENSE">
    <img alt="License" src="https://img.shields.io/badge/license-GPL--3.0-blue?style=flat-square" />
  </a>
</p>

<p align="center">
  A modern, modular C++ and ROS 2 framework for <b>Localization</b> and <b>SLAM</b>.  
  Configurable pipelines for LiDAR Odometry, LIO, and more.
</p>

<p align="center">
  <a href="https://docs.mola-slam.org/latest/why-mola.html"><b>Why MOLA</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/solutions.html"><b>Solutions</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/pricing.html"><b>Plans &amp; Pricing</b></a> &nbsp;|&nbsp;
  <a href="https://docs.mola-slam.org/latest/"><b>Documentation</b></a>
</p>

---




| Distro | Build dev | Release |
| --- | --- | --- |
| ROS 2 Humble (u22.04) | [![Build Status](https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/humble/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Jazzy (u24.04) | [![Build Status](https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/) | [![Version](https://img.shields.io/ros/v/jazzy/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Kilted (u24.04) | [![Build Status](https://build.ros2.org/job/Kdev__mola__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Kdev__mola__ubuntu_noble_amd64/) | [![Version](https://img.shields.io/ros/v/kilted/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Lyrical (u26.04) | [![Build Status](https://build.ros2.org/job/Ldev__mola__ubuntu_resolute_amd64/badge/icon)](https://build.ros2.org/job/Ldev__mola__ubuntu_resolute_amd64/) | [![Version](https://img.shields.io/ros/v/lyrical/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |
| ROS 2 Rolling (u26.04) | [![Build Status](https://build.ros2.org/job/Rdev__mola__ubuntu_resolute_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mola__ubuntu_resolute_amd64/) | [![Version](https://img.shields.io/ros/v/rolling/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |

| EOL Distro | Last Release |
| --- | ---
| ROS 2 Iron (u22.04) | [![Version](https://img.shields.io/ros/v/iron/mola)](https://index.ros.org/?search_packages=true&pkgs=mola) |


## 🤖 What is MOLA?
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](https://github.com/MOLAorg/) organization.

Refer to the [official documentation](https://docs.mola-slam.org/latest/) for build instructions, demos, API reference, etc.

## 🗺️ Features
- 📍 LiDAR Odometry (LO), LiDAR-Inertial Odometry (LIO), geo-referenced maps, sensor fusion
- 🧩 Fully configurable YAML pipelines - no recompilation needed to change sensors, filters, or map layers
- 🎯 Flexible accuracy: fast real-time navigation or survey-grade (<1 cm) mapping
- 🌍 Map-less RTK-quality outdoor georeferencing with low-cost GNSS + LiDAR +

Excerpt of 33,543 characters

Read on GitHub

Top contributors4 shown

jlblancoc
Jose Luis Blanco-Claraco · University of Almería
1.8k
dependabot[bot]
8
robin-zealrobotics
6
ahpinder
4

Quality score

Would you bet a product on this? Bounded 0–100 and slow moving.

57/10057

Maintenance: 90%; How recently the default branch was pushed to
Releases: 25%; Recency and cadence of tagged releases
Community: 15%; Contributor breadth and bus factor
Issue backlog: 60%; Open issues measured against the size of the audience
Documentation: 100%; README depth, plus a homepage and topics
Licensing: 35%; How freely the code can be adopted

What to know before adopting

No tagged releases
Bus factor of 1 — one contributor dominates
Licence terms need review before adoption.

Details

Created: 8 years ago
Last push: 9 days ago
Last release: none
Release tag: —
Releases in the last year: 0
Default branch: develop
Size: 6.0k KB
Owner type: Organization
Owner location: Spain
Discovered via: topic:computer-vision
First indexed: 13 days ago
Last synced: 9 days ago

Top AI Repos — open-source AI, indexed and scored

MOLAorg/mola

From the README

Top contributors4 shown

Quality score

What to know before adopting

Categories

Details

MOLAorg/mola

From the README

Top contributors4 shown

Quality score

What to know before adopting

Categories

Details

Top AI Repos — open-source AI, indexed and scored

Trend

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What to know before adopting

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Details