A modern robotic toolkit for localization and mapping -- reducing the barrier of entry for Simultaneous Localization and Mapping (SLAM). Towards non-parametric / parametric state estimation and navigation solutions . Implemented in Julia (and JuliaPro) for a fast, flexible, dynamic and productive robot designer experience. This framework maintains good interoperability with other languages like C/C++ or Python, as listed in features below. Multi-modal (quasi-multi-hypothesis) navigation and mapping solutions, using various sensor data, is a corner stone of this package. Multi-sensor fusion is made possible via vertically integrated Multi-modal iSAM.