mola_mapper_2d
- Software
- Navigation and mapping
- Library
A C++ library and command-line tool for 2D LiDAR graph-based SLAM, built on the MOLA and MRPT frameworks and compatible with ROS 2.
Made by The MOLA SLAM framework.
Source on GitHub: github.com/MOLAorg/mola_mapper_2d (opens in a new tab). Facts read at commit 5b8020e (opens in a new tab).
Licenses
- Code
- GPL-3.0-only (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (GPL-3.0-only) at commit 5b8020e (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
Copyleft: Modified source must be published.
What it does
- Maintains a pose graph of keyframes with SE(3) constraints and optimizes it with GTSAM.
- Detects and corrects large-scale loops through automatic loop closure detection.
- Runs separate configurable ICP pipelines for odometry and loop closure, using mp2p_icp.
- Selects and replaces keyframes to manage map size.
- Can resume SLAM sessions from saved states for multi-session mapping and serializes full state.
- Includes a CLI tool for processing offline datasets and ROS 2 launch files as examples.
Written by Robotheca from the project's README (opens in a new tab) at commit 5b8020e.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 11 Jun 2026 on develop
- Latest release
- None published on GitHub
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.