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MOLA SLAM

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Ash Babu edited this page Sep 4, 2026 · 1 revision

Getting started

  • sudo apt install ros-$ROS_DISTRO-mola ros-$ROS_DISTRO-mola-state-estimation ros-$ROS_DISTRO-mola-lidar-odometry

  • MOLA_GENERATE_SIMPLEMAP=true MOLA_SIMPLEMAP_MIN_XYZ=0.05 ros2 launch mola_lidar_odometry ros2-lidar-odometry.launch.py mola_deskew_method:=MotionCompensationMethod::IMU lidar_topic_name:=/lidar/points imu_topic_name:=/rslidar/imu/data/g_corrected mola_tf_base_link:=base_link publish_localization_following_rep105:=False use_sim_time:=true

  • ros2 bag play pipeon/Sheffield_expt_29_July_2026/bag_134645/ --clock

  • Use the gui that comes up to save the map or ros2 service call /map_save mola_msgs/srv/MapSave "map_path: '/home/ash/pipeon/Sheffield_expt_29_July_2026/bag_134645/saved_map/map'" # no extension required

To convert map to ply

  • sm2mm -i /home/ash/pipeon/Sheffield_expt_29_July_2026/bag_134645/saved_map/map.simplemap -o /home/ash/pipeon/Sheffield_expt_29_July_2026/bag_134645/saved_map/fulmap.mm

  • mm2ply -i /home/ash/pipeon/Sheffield_expt_29_July_2026/bag_134645/saved_map/fulmap.mm -b

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