Solutions and licensing

Solutions

1. Flexible 3D LIDAR odometry and Localization

LiDAR odometry is one of the most advanced and flexible LIDAR odometry modules out there. Check out the tutorial: Tutorial: build a map.

2. Full 3D SLAM solution (GNSS, submapping, loop closures)

Build georeferenced consistent global maps, even mixing indoor and outdoor scenarios. This functionality is provided by:

• mola_sm_loop_closure: At present, this package is not open-sourced, see: License and pricing.

  • Geo-referencing metric maps with consumer-grade GNSS sensors. See: Georeferencing.

  • Off-line loop closure for consistent global maps. (TO-DO: Write docs!)

• mola_3d_mapper: Full SLAM solution. (Coming soon!)

3. Full 2D SLAM solution

Build georeferenced consistent global 2D maps from 2D LiDARs. This functionality is provided by:

• mola_2d_mapper: Full SLAM solution for 2D LiDARs. (Coming soon!)

License and pricing

The complete framework comprises these software repositories:

Software repositories and modules

Repository	License
MRPT Underlying C++ data structures, algorithms, serialization, RawLog datasets, etc.	BSD-3
mp2p_icp Generic ICP algorithm, metric map pipelines.	BSD-3
mrpt_navigation ROS 2 nodes: *.mm metric map server, AMCL-like localization, point cloud pipeline, etc.	BSD-3
MOLA MOLA modules: kernel, mola_viz, kinematic state estimator, relocalization, etc.	GNU-GPLv3
mola_lidar_odometry LiDAR odometry for mapping and optimization-based localization.	GNU-GPLv3
mola_sm_loop_closure Map geo-referencing, SLAM with loop-closure for consistent large maps.	Upon licensing only

Contact

To request details on licensing a closed-source version for commercial usages and/or consulting services, please use this contact form: