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

easynav_bonxai_maps_manager package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	0.2.1
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	2026-02-27
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.

maps_managers/easynav_bonxai_maps_manager/README.md

easynav_bonxai_maps_manager

Description

Maps Manager that maintains a Bonxai probabilistic 3D occupancy map and exposes it via ROS topics, NavState, and a save-map service.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_bonxai_maps_manager/BonxaiMapsManager
Type: easynav_bonxai::BonxaiMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_bonxai_maps_manager
Description: Maps Manager that maintains a Bonxai probabilistic 3D occupancy map and exposes it via ROS topics, NavState, and a save-map service.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_bonxai_maps_manager/BonxaiMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name to resolve relative map paths via ament index.
`<plugin>.bonxai_path_file`	`string`	`""`	Relative path (inside the package) to a PCD file with 3D points to build the Bonxai map.
`<plugin>.occmap_path_file`	`string`	`""`	Relative path (inside the package) to a ROS-style YAML occupancy map to import.
`<plugin>.resolution`	`double`	`0.3`	Voxel resolution for the Bonxai map (meters).
`<plugin>.frame_id`	`string`	`"map"`	Frame ID stamped on published map messages.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud to build/update the Bonxai map.	QoS depth=100
Subscription	`<node_fqn>/<plugin>/incoming_occ_map`	`nav_msgs/msg/OccupancyGrid`	Input occupancy grid (YAML + PGM) to import into Bonxai.	QoS depth=1, transient_local, reliable
Publisher	`<node_fqn>/<plugin>/map`	`sensor_msgs/msg/PointCloud2`	Published Bonxai map as a point cloud.	QoS depth=1, transient_local, reliable

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Save current Bonxai map to disk.

NavState Keys

Key	Type	Access	Notes
`map.bonxai`	`Bonxai::ProbabilisticMap`	Write	Stores the current Bonxai map instance.

TF Frames

Role	Transform	Notes
Publishes	`—`	No TF broadcast; outputs use the configured frame_id.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_bonxai_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	pcl_conversions
	pcl_ros
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

Dependant Packages

Name	Deps
easynav_navmap_localizer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_bonxai_maps_manager` at Robotics Stack Exchange

API Docs Browse Code