easynav_navmap_maps_manager

maps_managers/easynav_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

Name	Deps
easynav_playground_summit
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_navmap_maps_manager` at Robotics Stack Exchange

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

Name	Deps
easynav_playground_summit
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_navmap_maps_manager` at Robotics Stack Exchange

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	tf2_ros
	yaets
	yaml_cpp_vendor

System Dependencies

Name
eigen
graphicsmagick

Dependant Packages

Name	Deps
easynav_playground_summit
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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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_navmap_maps_manager` at Robotics Stack Exchange

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

easynav_navmap_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_navmap_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_navmap_maps_manager

Description

Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds.

This package also includes map filters implemented as plugins (ObstacleFilter and InflationFilter) that operate on NavMap layers to detect obstacles and inflate their costs, enabling cost-aware path planning.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager
Type: easynav::navmap::NavMapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_navmap_maps_manager
Description:
Maps Manager that maintains a NavMap (triangulated 3D surface) and publishes full maps and layer updates; supports importing from YAML OccupancyGrid or point clouds, and applying dynamic filters to generate obstacle and inflated layers.

Parameters

All parameters are declared under the plugin namespace, i.e.
/<node_fqn>/easynav_navmap_maps_manager/NavMapMapsManager/...

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative paths via `ament_index`.
`<plugin>.freq`	`double`	`10.0`	Update frequency (Hz) for map publishing and filter execution.
`<plugin>.navmap_path_file`	`string`	`""`	Relative path (inside the package) to a `.navmap` file to load at startup.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
`<plugin>.pcd_path_file`	`string`	`""`	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
`<plugin>.filters`	`list<string>`	`[]`	Ordered list of filter plugin names to be applied after map loading (e.g. `["obstacles", "inflation"]`).

Filter Plugins

ObstacleFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
Type: easynav::navmap::ObstacleFilter
Description:
Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.

Parameter	Type	Default	Description
`<plugin>.max_range`	`double`	`10.0`	Only points within this distance (x and y, robot frame) are used.
`<plugin>.min_height`	`double`	`0.1`	Height above the NavMap surface below which points are the ground.
`<plugin>.min_height_per_meter`	`double`	`0.0`	`min_height` grows this much per meter of horizontal distance from the robot (`< 0` or not finite: `0`). On rough terrain, a small error in the robot’s tilt lifts the ground more the farther it is; e.g. `0.05` adds 0.25 m at 5 m.
`<plugin>.max_height`	`double`	`NaN`	Points above this height (robot frame) are ignored; `NaN` disables it.
`<plugin>.downsample_resolution`	`double`	`0.3`	Voxel size (m) the points are reduced to first; `<= 0` disables it.
Input Key:			Reads list of point clouds from `NavState` group `"points"`.
Output Layer:			Updates or creates NavMap layer `"obstacles"`.

InflationFilter

Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
Type: easynav::navmap::InflationFilter
Description:
Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh.

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how fast cost decreases with distance.
`<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 inscribed zone (constant high cost before decay).
Input Layer:			Reads from `"obstacles"`.
Output Layer:			Writes to `"inflated_obstacles"`.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`navmap_ros_interfaces/msg/NavMap`	Publishes the full NavMap.	depth=1
Publisher	`<node_fqn>/<plugin>/map_updates`	`navmap_ros_interfaces/msg/NavMapLayer`	Publishes incremental layer updates.	depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves the current NavMap and layers to disk.

NavState Keys

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_navmap_maps_manager

0.5.0 (2026-10-08)

Runtime reconfiguration (rejected ones are reported)
Robot geometry from system_node
ObstacleFilter: keeps the static map; range and height limits; a column is an obstacle when it rises more than min_height above the NavMap surface (so a 2D laser sees obstacles, and the ground and ramps are not ones); min_height_per_meter and downsample_resolution parameters
InflationFilter: inflates across unknown cells
Fixed std::bad_alloc
Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Navstate key among filters are always map, not an arbitrary key
Update calls to deprecated get_package_share_directory
Adaptations to #94
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Improve navstate print including the time
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Final adjustements
Refactor to use TFInfo
Merge branch 'rolling' into improve_astar_costmap
linting docs
Optimize execution Cleanup unused headers
Dependencies were fixed
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Update sheets
First functional version of Inflation filter
Update to Occ constants
Add obstacle layer
Optimized function
First functional verison, but expensive
Add params to navmap building map
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	geometry_msgs
	ament_index_cpp
	easynav_common
	easynav_core
	easynav_sensors
	nav_msgs
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	pluginlib
	rclcpp
	rclcpp_lifecycle
	sensor_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	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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