Mapper3D ROS 2 node

Note

ROS 2 launch files and a dedicated bridge node for mola_mapper_3d are under active development. This page will be populated with topic names, parameters, and /tf conventions once the bridge is finalised. In the meantime, refer to the mola-cli launch files in mola-cli-launchs/ for working examples that combine LIO + Mapper3D.

Overview

The Mapper3D ROS 2 integration consists of:

1. A mola_bridge_ros2 adapter that subscribes to sensor topics (nav_msgs/Odometry, sensor_msgs/Imu, sensor_msgs/NavSatFix) and forwards them to the Mapper3D module via the MOLA sensor-fusion API.

2. A publisher for nav_msgs/Odometry and /tf (map → base_link), driven by mola::LocalizationSourceBase::advertiseUpdatedLocalization().

3. (Planned) A nav_msgs/Path publisher for the full optimized trajectory.

Launch file

Coming soon. The launch file will accept the following key arguments:

Argument	Default	Description
lidar_topic_name	/ouster/points	Raw LiDAR topic consumed by the paired LIO front-end.
imu_topic_name	""	IMU topic (sensor_msgs/Imu); empty = disabled.
gnss_topic_name	""	GNSS topic (sensor_msgs/NavSatFix); empty = disabled.
estimate_geo_reference	false	Enable online geo-referencing from GNSS.
odom_topic	/odom	Wheel-odometry topic (nav_msgs/Odometry).
base_link_frame	base_link	Robot base frame id.
map_frame	map	Global map frame id.

Published topics

Coming soon.

Subscribed topics

Coming soon.

TF conventions

Coming soon.