easynav_costmap_maps_manager

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

Name	Deps
easynav_playground_kobuki
easynav_playground_omni
easynav_playground_tiago

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
kilted

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

Name	Deps
easynav_playground_kobuki
easynav_playground_omni
easynav_playground_tiago

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
lyrical

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

Name	Deps
easynav_playground_kobuki
easynav_playground_omni
easynav_playground_tiago

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Simple MapsManager package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (base and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z below min_height, in the map frame), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
`<plugin>.<filter>.min_height`	`double`	`0.1`	Points lower than this (m, map frame) are the floor, not obstacles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high).

Downsampling resolution and frame fusion use the costmap’s own resolution and map frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the base map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	—	Deprecated: the robot’s `system_node.robot_geometry.inscribed_radius`, used unless only this one is configured (with a warning). Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

| Key | Type | Access | Description | |—|—|—|—|

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration
Robot geometry from system_node
Configurable min_height in the ObstacleFilter (was a fixed 0.1 m)
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Update dynamic_map_ with map key at navstate
Avoid rewrite map with dynamic_map
Navstate key among filters are always map, not an arbitrary key
Merge fix
Any change in the costmap set it as modified
Publish changes in base map and be ready to save updated map
Costamp base map sincronized with nav_state
Change map static to base
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Get timestamp from perception for stamping
Improve navstate print including the time
Use last available TF for obstacle filter
Adjust output time in costamp stack
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
fix: Prevent A* planner from traversing through obstacles
Final optimization
First UpdateCosts optimization
Update perception bound
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Jose Miguel, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_costmap_common
	easynav_sensors
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	std_srvs
	tf2
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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