Note

It is recommended to start with the tutorial on how to build a map.

This launch file (view sources) runs MOLA-LO live on point clouds received from a ROS 2 topic, demonstrating a few features:

• Launching and visualizing LO in both, mola_viz and RViz2 (or use FoxGlove if preferred).

• How MOLA mola_lidar_odometry publishes the local map, the estimated trajectory, and /tf for the estimated odometry.