conversions.hpp File Reference

Conversions between the core NavMap representation and ROS messages. More...

#include <string>
#include <Eigen/Core>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include "std_msgs/msg/header.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "navmap_ros_interfaces/msg/nav_map.hpp"
#include "navmap_ros_interfaces/msg/nav_map_layer.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "navmap_core/NavMap.hpp"

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Classes
struct	BuildParams
	Parameters controlling NavMap construction from unorganized points. More...

Namespaces
namespace	navmap_ros
	Conversions between core NavMap and ROS-level structures.

Functions
navmap::NavMap	from_msg (const navmap_ros_interfaces::msg::NavMap &msg)
	Backward-compatible overload (ignores message header).
navmap::NavMap	from_msg (const navmap_ros_interfaces::msg::NavMap &msg, std_msgs::msg::Header &header)
	Reconstruct a core navmap::NavMap from the ROS transport message.
void	from_msg (const navmap_ros_interfaces::msg::NavMapLayer &msg, navmap::NavMap &nm)
	Backward-compatible overload (ignores message header).
void	from_msg (const navmap_ros_interfaces::msg::NavMapLayer &msg, navmap::NavMap &nm, std_msgs::msg::Header &header)
	Import a single NavMapLayer message into a NavMap.
navmap::NavMap	from_occupancy_grid (const nav_msgs::msg::OccupancyGrid &grid)
	Backward-compatible overload (ignores grid header).
navmap::NavMap	from_occupancy_grid (const nav_msgs::msg::OccupancyGrid &grid, std_msgs::msg::Header &header)
	Build a navmap::NavMap from a nav_msgs::msg::OccupancyGrid using a regular triangular surface with shared vertices.
navmap::NavMap	from_pointcloud2 (const sensor_msgs::msg::PointCloud2 &pc2, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)
	Build a NavMap surface from a ROS sensor_msgs::msg::PointCloud2.
navmap::NavMap	from_points (const pcl::PointCloud< pcl::PointXYZ > &input_points, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)
	Build a NavMap surface from a PCL point cloud.
navmap_ros_interfaces::msg::NavMap	to_msg (const navmap::NavMap &nm)
	Backward-compatible overload (no header provided).
navmap_ros_interfaces::msg::NavMapLayer	to_msg (const navmap::NavMap &nm, const std::string &layer)
	Backward-compatible overload (no header provided).
navmap_ros_interfaces::msg::NavMapLayer	to_msg (const navmap::NavMap &nm, const std::string &layer, const std_msgs::msg::Header &header)
	Convert a single layer from a NavMap into a ROS message.
navmap_ros_interfaces::msg::NavMap	to_msg (const navmap::NavMap &nm, const std_msgs::msg::Header &header)
	Convert a core navmap::NavMap into its compact ROS transport message.
nav_msgs::msg::OccupancyGrid	to_occupancy_grid (const navmap::NavMap &nm)
	Backward-compatible overload.
nav_msgs::msg::OccupancyGrid	to_occupancy_grid (const navmap::NavMap &nm, const std_msgs::msg::Header &header)
	Convert a navmap::NavMap back to nav_msgs::msg::OccupancyGrid.

Variables
Costmap value semantics
Standardized occupancy/cost values used when projecting NavMap layers onto a 2D grid (compatible with costmap_2d conventions). These constants follow the same meaning as in costmap_2d: NO_INFORMATION (255): Unknown or unobserved area. LETHAL_OBSTACLE (254): Non-traversable obstacle. INSCRIBED_INFLATED_OBSTACLE (253): Inside the robot’s inscribed radius. MAX_NON_OBSTACLE (252): Highest cost still considered traversable. FREE_SPACE (0): Known free space.
constexpr uint8_t	FREE_SPACE = 0
constexpr uint8_t	INSCRIBED_INFLATED_OBSTACLE = 253
constexpr uint8_t	LETHAL_OBSTACLE = 254
constexpr uint8_t	MAX_NON_OBSTACLE = 252
constexpr uint8_t	NO_INFORMATION = 255

Detailed Description

Conversions between the core NavMap representation and ROS messages.

This header provides:

• Lossless conversion between the core type navmap::NavMap and the compact transport message navmap_ros_interfaces::msg::NavMap.
• Bidirectional conversion between nav_msgs::msg::OccupancyGrid and navmap::NavMap using a regular triangular mesh (shared vertices, two triangles per grid cell).

Occupancy mapping

When building a NavMap from an OccupancyGrid, a per-NavCel (triangle) layer named "occupancy" (uint8) is added with the following value mapping:

• -1 (unknown) → 255
• 0..100 (percent) → 0..254 (linear scaling)

The reverse conversion reuses that layer when present.