easynav_navmap_maps_manager

Description

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

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

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

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

Parameters

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

Local mode

With <plugin>.local.enabled, the maps manager keeps a NavMap around the robot, in its frame, rebuilt continuously from the point perceptions in NavState (scans accumulated in odom over accumulate_time, cropped to the window and meshed with navmap_ros::from_points). Each rebuild is published on <plugin>/map and replaces the map in NavState; the filters run on it as usual (the ObstacleFilter works in the NavMap’s own frame). A map loaded from a file is replaced at the first rebuild.

Filter Plugins

ObstacleFilter

• Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstaclesFilter
• Type: easynav::navmap::ObstacleFilter
• Description:
  Detects occupied NavCels from the point perceptions in NavState and marks them as LETHAL_OBSTACLE in the "obstacles" layer, on top of the static map’s "occupancy" layer (if any).
  The points are downsampled, those within max_range and below max_height (robot frame) are grouped in 0.3 m columns, and a column is an obstacle when its highest point is more than min_height (plus min_height_per_meter for each meter from the robot) above the NavMap surface under it (along the surface’s normal). So a 2D laser detects obstacles too, and the ground or a ramp, being on the surface, is not one.
  The layer is rebuilt from the static map only when the map changes; each cycle writes just the cells that become obstacles or stop being one.
  With memory.enabled, the evidence is accumulated per NavCel in log-odds ("obstacles_logodds", int16, clamped as OctoMap): a point above the surface is a hit, the cells a ray from the robot crosses (and where a ground point lies) are misses, and unobserved cells can decay. "obstacles_sensor" says what the sensors know (obstacle, free or unknown), and "obstacles" is the static map with the sensors on top (navmap::combine_layer, max): the sensors fill in cells the static map does not know, and never erase a static obstacle. NO_INFORMATION is the declared unknown value of these layers.

InflationFilter

• Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
• Type: easynav::navmap::InflationFilter
• Description:
  Expands obstacle information from the "obstacles" layer into an "inflated_obstacles" layer, assigning graded costs depending on distance to obstacles and map boundaries (NavCels with missing neighbors).
  This filter mimics the behavior of costmap_2d::InflationLayer but operates on the NavMap triangular mesh. Distances are exact and measured along the surface (navmap::DistanceField), and they are updated incrementally: only the obstacle cells that appear or disappear move the field, and only the cells whose cost changes are rewritten.

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Changelog for package easynav_navmap_maps_manager

0.5.1 (2026-10-21)

• Local NavMap around the robot
• ObstacleFilter: each point on the nearest surface, the cell under it, optional obstacle memory
• InflationFilter: inflation from 3D distances to the real border
• Incremental, in-place filters with sparse layer updates
• Enable cpplint and copyright linters
• READMEs: supported on Humble, Jazzy, Kilted, Lyrical and Rolling
• Contributors: Francisco Martín Rico

0.5.0 (2026-10-08)

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

0.4.2 (2026-07-26)

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

0.0.2 (2025-10-12)

• Reorganization initial
• Contributors: Francisco Martín Rico