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mola_state_estimation

  • Software
  • Navigation and mapping
  • Library

A set of ROS 2 packages providing state estimators for robots and vehicles within the MOLA framework, from a simple constant-velocity updater to a factor-graph smoother.

Made by The MOLA SLAM framework, Spain (checked on github.com/MOLAorg (opens in a new tab)).

Source on GitHub: github.com/MOLAorg/mola_state_estimation (opens in a new tab). Facts read at commit 08828de (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 08828de (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

Copyleft: Modified source must be published.

What it does

  • Mola_state_estimation_simple incrementally updates a vehicle's kinematic state from sensor observations using a constant velocity model.
  • Mola_state_estimation_smoother uses factor-graph smoothing to fuse wheel odometry, IMUs, GNSS and other sensors.
  • Mola_georeferencing is a C++ library for georeferencing key-frame maps (simplemaps) and related command-line tools.
  • Mola_gtsam_factors is a C++ library of reusable GTSAM factors for georeferencing and state-estimation modules.

Written by Robotheca from the project's README (opens in a new tab) at commit 08828de.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
ROS 2 distributions Humble, Jazzy, Kilted, Lyrical and Rolling; amd64 and arm64 architectures are built for the binary packages.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
15 Oct 2026 on develop
Latest release
mola_state_estimation 3.0.4 (9 Oct 2026)

Checked on GitHub on 16 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.