Tutorials

SLAM, mapping, localization

• Tutorial: build a map
  • 1. Prepare the input data
  • 2. Run MOLA-LO
  • 3. Inspect the resulting simple-map
  • 4. Build metric maps and visualize them
  • 5. Publish the map to ROS 2
  • 6. See the inner workings of ICP
  • 7. What’s next?
• MOLA-LO: Build a map and then localize
  • Prerequisites: MOLA installation
  • 1. Create a map and save it
  • 2. Optional: Build down-sampled, globally consistent map
  • 3. Load a prebuilt map in localization-only mode
  • 4. Invoke relocalization

Core MOLA functionalities

• MOLA main CLI tools
• MOLA CMake functions
  • find_mola_package()
  • mola_add_executable()
  • mola_add_library()
  • mola_find_package_or_return()
• Replay MulRan to ROS2
  • MOLA installation
  • Dataset preparation
  • Launching the demo
  • Under the hook