mola_bridge_ros2

Bidirectional bridge ROS2-MOLA

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README

mola_bridge_ros2

RawDataSource acting as a bidirectional bridge between ROS2 and MOLA modules.

Can be used to:

• ROS2->MOLA: Interface a real sensor using a ROS driver node and run SLAM with it. See mola_lidar_odometry demos.

• MOLA->ROS2: Expose a dataset as ROS2 topics, from any of the datasets supported by MOLA. Example: kitti

• ROS2<->MOLA: Run SLAM on a live sensor stream, then send back the reconstructed map and trajectory to ROS for further processing or visualization in RViz. See mola_lidar_odometry demos.

If you want to run SLAM on a rosbag, the module mola_input_rosbag2 provides a more convenient interface, e.g. allows fast-forwarding or skipping parts of a bag.

Building this module requires ROS 2 to be installed, and its setup.bash activation script being sourced before invoking CMake to configure and build MOLA.

See package docs for instructions and options to install ROS prerequisites.

Provided MOLA modules:

• BridgeROS2, type RawDataSourceBase.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the BSD 3-clause license.