ROS Index
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble |  |
| jazzy |  |
| kilted |  |
| lyrical |  |
| rolling |  |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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_octomap_maps_manager at Robotics Stack Exchange
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
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_octomap_maps_manager
Description
Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_octomap_maps_manager/OctomapMapsManager -
Type:
easynav::octomap::OctomapMapsManager -
Base Class:
easynav::MapsManagerBase -
Library:
easynav_octomap_maps_manager - Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.
Parameters
Plugin Parameters
The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.
Filter Parameters
Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any specific parameters.
InflationFilter
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.inflation.inflation_radius |
double |
0.3 |
Inflation radius (m) used to expand occupied cells. |
<plugin>.inflation.cost_scaling_factor |
double |
3.0 |
Exponential decay controlling the reduction of cost with distance. |
<plugin>.inflation.inscribed_radius |
double |
— |
Deprecated: the robot’s system_node.robot_geometry.inscribed_radius, used unless only this one is configured (with a warning). |
ObstacleFilter
This filter does not declare additional ROS parameters apart from plugin.
Example Configuration
maps_manager_node:
ros__parameters:
map_types: [octomap]
octomap:
plugin: easynav_octomap_maps_manager/OctomapMapsManager
package: my_maps_pkg
octomap_path_file: maps/site.pcd
filters: [inflation, obstacles]
inflation:
plugin: easynav_octomap_maps_manager/InflationFilter
inflation_radius: 0.3
cost_scaling_factor: 3.0
obstacles:
plugin: easynav_octomap_maps_manager/ObstacleFilter
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Publisher | <node_fqn>/<plugin>/map |
octomap_msgs/msg/Octomap |
Publishes the current OctoMap. | depth=1 |
| Subscription | <node_fqn>/<plugin>/incoming_pc2_map |
sensor_msgs/msg/PointCloud2 |
Input point cloud used to build/update the OctoMap. | depth=100 |
Services
| Direction | Service | Type | Purpose |
|---|---|---|---|
| Service Server | <node_fqn>/<plugin>/savemap |
std_srvs/srv/Trigger |
Saves the current OctoMap to disk. |
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
map |
::octomap::Octomap |
Read | If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.) |
TF Frames
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package easynav_octomap_maps_manager
0.5.0 (2026-10-08)
- Runtime reconfiguration
- Robot geometry from system_node
- Fixed std::bad_alloc
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico
0.4.2 (2026-07-26)
- Complete deps
- Update calls to deprecated get_package_share_directory
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Remove C++20/C++23 features and update to new MethodBase interface
- TFInfo in RTTFBuffer
- Sync README with code
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- 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
System Dependencies
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.