navmap_ros Namespace Reference

Conversions between core NavMap and ROS-level structures. More...

Namespaces
namespace	io
	IO helpers to persist NavMap objects to/from disk.

Classes
struct	BuildParams
	Parameters controlling NavMap construction from unorganized points. More...
struct	EdgeHasher
struct	EdgeKey
struct	TriHasher
struct	TriKey
struct	Voxel
struct	VoxelHash

Typedefs
using	Triangle = Eigen::Vector3i

Functions
bool	build_navmap_from_mesh (const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< Eigen::Vector3i > &triangles, const std::string &frame_id, navmap_ros_interfaces::msg::NavMap &out_msg, navmap::NavMap *out_core_opt)
pcl::PointCloud< pcl::PointXYZ >	downsample_voxelize_topZ_layered (const pcl::PointCloud< pcl::PointXYZ > &input_points, float resolution, float dz_merge)
navmap::NavMap	from_msg (const NavMap &msg)
navmap::NavMap	from_msg (const NavMap &msg, std_msgs::msg::Header &header)
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.
void	triangle_angles_deg (const Eigen::Vector3f &A, const Eigen::Vector3f &B, const Eigen::Vector3f &C, float &angA, float &angB, float &angC)
bool	try_add_triangle (int i, int j, int k, const pcl::PointCloud< pcl::PointXYZ > &cloud, const BuildParams &P, std::unordered_set< TriKey, TriHasher > &tri_set, std::unordered_set< EdgeKey, EdgeHasher > &edge_set, std::vector< Triangle > &tris)

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	NO_INFORMATION = 255
constexpr uint8_t	LETHAL_OBSTACLE = 254
constexpr uint8_t	INSCRIBED_INFLATED_OBSTACLE = 253
constexpr uint8_t	MAX_NON_OBSTACLE = 252
constexpr uint8_t	FREE_SPACE = 0

Detailed Description

Conversions between core NavMap and ROS-level structures.

Typedef Documentation

Triangle

using Triangle = Eigen::Vector3i

Function Documentation

build_navmap_from_mesh()

bool build_navmap_from_mesh	(	const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const std::vector< Eigen::Vector3i > &	triangles,
		const std::string &	frame_id,
		navmap_ros_interfaces::msg::NavMap &	out_msg,
		navmap::NavMap *	out_core_opt )

downsample_voxelize_topZ_layered()

pcl::PointCloud< pcl::PointXYZ > downsample_voxelize_topZ_layered	(	const pcl::PointCloud< pcl::PointXYZ > &	input_points,
		float	resolution,
		float	dz_merge )

from_msg() [1/6]

navmap::NavMap from_msg

(

const NavMap &

msg

)

from_msg() [2/6]

navmap::NavMap from_msg	(	const NavMap &	msg,
		std_msgs::msg::Header &	header )

from_msg() [3/6]

navmap::NavMap from_msg

(

const navmap_ros_interfaces::msg::NavMap &

msg

)

Backward-compatible overload (ignores message header).

from_msg() [4/6]

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.

Parameters

[in]	msg	Input navmap_ros_interfaces::msg::NavMap message.
[out]	header	Header extracted from the message.

Returns

A core navmap::NavMap equivalent to the content of msg.

• Intended to be the inverse of navmap_ros::to_msg for a round-trip without loss.
• Assumes that the message is internally consistent (sizes and indices match).

Exceptions

std::runtime_error

If the message describes inconsistent geometry or layer sizes.

from_msg() [5/6]

void from_msg	(	const navmap_ros_interfaces::msg::NavMapLayer &	msg,
		navmap::NavMap &	nm )

Backward-compatible overload (ignores message header).

from_msg() [6/6]

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.

If the layer already exists in nm, it is overwritten. Otherwise, it is created. Performs type dispatch based on the message field type.

Parameters

[in]	msg	Input NavMapLayer message.
[in,out]	nm	Destination NavMap (must already have navcels sized correctly).
[out]	header	Header extracted from the message.

• The function verifies that the length of the populated data array matches the number of triangles (NavCels) in nm.
• Exactly one of the arrays data_u8, data_f32, or data_f64 must be set.

Exceptions

std::runtime_error

If sizes are inconsistent or the message is ill-formed.

from_occupancy_grid() [1/2]

navmap::NavMap from_occupancy_grid

(

const nav_msgs::msg::OccupancyGrid &

grid

)

Backward-compatible overload (ignores grid header).

from_occupancy_grid() [2/2]

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.

Parameters

[in]	grid	Input ROS OccupancyGrid (row-major, width×height, resolution and origin).
[out]	header	Header to assign to the resulting message.

Returns

A core navmap::NavMap with:

• Vertices: (W+1) * (H+1) laid on the grid plane, with Z = grid.info.origin.position.z.
• Triangles: 2 * W * H (two per cell), using diagonal pattern = 0.
• One surface whose frame matches grid.header.frame_id, and grid metadata filled.
• A per-NavCel layer named "occupancy" of type uint8, with values mapped as: -1 → 255 (unknown), 0..100 → 0..254 (linear scaling).

• Vertex layout follows the grid indexation with shared vertices across adjacent cells.
• Triangle winding and diagonal split are deterministic (pattern = 0).
• If width == 0 or height == 0, the returned map contains no triangles.

Note

The grid origin pose may contain a rotation. The vertex Z is taken from the origin Z; handling of non-zero yaw/roll/pitch (if any) is implementation-defined in the builder.

from_pointcloud2()

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.

Parameters

[in]	pc2	Input PointCloud2 message (expects fields x, y, z).
[out]	out_msg	Output transport message mirroring the created NavMap.
[in]	params	Meshing and filtering parameters (see BuildParams).

Returns

The constructed navmap::NavMap.

• The cloud is decoded to pcl::PointXYZ and processed as in navmap_ros::from_points.
• Non-Cartesian fields present in pc2 are ignored by this overload.
• The resulting NavMap is exported to out_msg for downstream publication or storage.

Note

If the message is empty or lacks the required fields, no geometry is produced.

Exceptions

std::runtime_error

If decoding fails or meshing cannot be completed.

from_points()

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.

Parameters

[in]	input_points	Point set in world coordinates (pcl::PointXYZ).
[out]	out_msg	Output transport message mirroring the created NavMap.
[in]	params	Meshing and filtering parameters (see BuildParams).

Returns

The constructed navmap::NavMap.

Typical steps implemented by this builder include:

• Optional downsampling according to params.resolution.
• Local neighborhood discovery using either radius (params.use_radius) or k-NN.
• Edge and face filtering based on params.max_edge_len, params.min_area and params.min_angle_deg.
• Optional slope gating using params.max_slope_deg with respect to the vertical axis.
• Creation of a single surface with shared vertices and triangle indices. The function also fills out_msg with the compact ROS representation of the resulting map.

Note

Input is treated as an unorganized cloud. If normals or intensities are present, they are ignored by this overload.

Exceptions

std::runtime_error

If meshing fails due to inconsistent parameters or empty input.

to_msg() [1/4]

NavMap to_msg

(

const navmap::NavMap &

nm

)

Backward-compatible overload (no header provided).

The returned message header will be default-constructed.

to_msg() [2/4]

navmap_ros_interfaces::msg::NavMapLayer to_msg	(	const navmap::NavMap &	nm,
		const std::string &	layer )

Backward-compatible overload (no header provided).

to_msg() [3/4]

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.

Parameters

[in]	nm	Input NavMap.
[in]	layer	Name of the layer to export.
[in]	header	Header to assign to the resulting message.

Returns

A NavMapLayer message containing the layer values and metadata.

• The returned message contains the layer name, type tag, and exactly one populated data array whose length equals the number of NavCels in nm.
• The function performs a type-safe extraction (U8/F32/F64).

Exceptions

std::runtime_error

If the layer does not exist or has an unsupported type.

to_msg() [4/4]

NavMap to_msg	(	const navmap::NavMap &	nm,
		const std_msgs::msg::Header &	header )

Convert a core navmap::NavMap into its compact ROS transport message.

Parameters

[in]	nm	Core NavMap to be serialized into a ROS message.
[in]	header	Header to assign to the resulting message.

Returns

A navmap_ros_interfaces::msg::NavMap containing geometry (vertices, triangles), surfaces metadata and user-defined layers.

• Intended to be lossless with respect to the information represented in the message.
• The ordering of vertices/triangles/layers in nm is preserved in the resulting message.

Note

This function does not perform IO; it only builds the message in-memory.

to_occupancy_grid() [1/2]

nav_msgs::msg::OccupancyGrid to_occupancy_grid

(

const navmap::NavMap &

nm

)

Backward-compatible overload.

to_occupancy_grid() [2/2]

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.

Parameters

[in]

nm

Core NavMap to be rasterized as an occupancy grid.

Returns

A ROS OccupancyGrid populated from nm.

Two paths are considered:

• Fast exact path: If the first surface encodes valid grid metadata (GridMeta) and there is a per-NavCel "occupancy" layer of type U8 with size 2 * W * H, the function reconstructs an OccupancyGrid exactly (linear inverse mapping 0..254 → 0..100, 255 → -1).
• Generic fallback: If the exact path is not applicable, the function samples cell centers via a navcel-locator (e.g., locate_navcel) and reads "occupancy" values to populate the grid.

Note

The fallback path assumes the presence of an "occupancy" layer. The precise sampling strategy (bounds, resolution, and handling of cells without a containing navcel) is implementation-defined.

Warning

If the map does not carry grid metadata or the "occupancy" layer is missing, the result may be incomplete or implementation-defined.

triangle_angles_deg()

void triangle_angles_deg	(	const Eigen::Vector3f &	A,
		const Eigen::Vector3f &	B,
		const Eigen::Vector3f &	C,
		float &	angA,
		float &	angB,
		float &	angC )

try_add_triangle()

bool try_add_triangle	(	int	i,
		int	j,
		int	k,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const BuildParams &	P,
		std::unordered_set< TriKey, TriHasher > &	tri_set,
		std::unordered_set< EdgeKey, EdgeHasher > &	edge_set,
		std::vector< Triangle > &	tris )

Variable Documentation

FREE_SPACE

uint8_t FREE_SPACE = 0

constexpr

INSCRIBED_INFLATED_OBSTACLE

uint8_t INSCRIBED_INFLATED_OBSTACLE = 253

constexpr

LETHAL_OBSTACLE

uint8_t LETHAL_OBSTACLE = 254

constexpr

MAX_NON_OBSTACLE

uint8_t MAX_NON_OBSTACLE = 252

constexpr

NO_INFORMATION

uint8_t NO_INFORMATION = 255

constexpr