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easynav_simple_maps_manager package from easynav_plugins repo

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jazzy

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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_simple_maps_manager/README.md

easynav_simple_maps_manager

Description

Simple Maps Manager that demonstrates the Maps Manager API. It forwards/republishes a basic occupancy map flow and exposes standard topics and a save-map service.

At the heart of this stack is the SimpleMap data structure. It represents the environment as a 2D occupancy grid where each cell can be either 0 (free), 1 (occupied), or -1 (unknown).

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_simple_maps_manager/SimpleMapsManager
Type: easynav::SimpleMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_simple_maps_manager
Description: Simple (no-op) Maps Manager that demonstrates the Maps Manager API. It forwards/republishes a basic occupancy map flow and exposes standard topics and a save-map service.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_simple_maps_manager/SimpleMapsManager/...`)

Name	Type	Default	Description
`<plugin>.package`	`string`	`""`	Package name used to resolve relative map paths via `ament_index`.
`<plugin>.map_path_file`	`string`	`""`	Relative path (inside the package) to a simple map.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`<node_fqn>/<plugin>/incoming_map`	`nav_msgs/msg/OccupancyGrid`	Incoming occupancy map (used to feed the dynamic map).	QoS depth=1, transient_local, reliable
Publisher	`<node_fqn>/<plugin>/map`	`nav_msgs/msg/OccupancyGrid`	Published static map.	QoS depth=1
Publisher	`<node_fqn>/<plugin>/dynamic_map`	`nav_msgs/msg/OccupancyGrid`	Published dynamic (live) map.	QoS depth=100

Services

Direction	Service	Type	Purpose
Service Server	`<node_fqn>/<plugin>/savemap`	`std_srvs/srv/Trigger`	Saves current map(s) to disk.

NavState Keys

Key	Type	Access	Notes
`points`	`PointPerceptions`	Read	Optional perception points bundle (not strictly required for this no-op manager).
`map.static`	`SimpleMap`	Write	Static map loaded from file / parameter configuration.
`map.dynamic`	`SimpleMap`	Write	Dynamic map after applying incoming updates.

TF Frames

This manager does not broadcast TF; messages are stamped directly with their frame as provided.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_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_ros
	pluginlib
	nav_msgs
	ament_index_cpp
	easynav_simple_common
	std_srvs
	yaets

System Dependencies

No direct 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.

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