easynav_navmap_maps_manager Directory Reference

Directory dependency graph for easynav_navmap_maps_manager:

Directories
	include
	src
	tests

Detailed Description

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 fmric.nosp@m.o@gm.nosp@m.ail.c.nosp@m.om

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
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/...

Name	Type	Default	Description
<plugin>.package	string	""	Package name to resolve relative paths via ament_index.
<plugin>.freq	double	10.0	Update frequency (Hz) for map publishing and filter execution.
<plugin>.navmap_path_file	string	""	Relative path (inside the package) to a .navmap file to load at startup.
<plugin>.occmap_path_file	string	""	Relative path (inside the package) to a ROS YAML OccupancyGrid to import as NavMap.
<plugin>.pcd_path_file	string	""	Relative path (inside the package) to a point cloud (PCD/PLY) used to build a NavMap surface.
<plugin>.filters	list<string>	[]	Ordered list of filter plugin names to be applied after map loading (e.g. ["obstacles", "inflation"]).

Filter Plugins

ObstacleFilter

• Plugin Name: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
• Type: easynav::navmap::ObstacleFilter
• Description:
  Detects occupied NavCels from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the "obstacles" layer.
  The filter groups 3D points into voxels and marks cells as occupied if a sufficient vertical structure is detected (either multiple bins along the z-axis or a vertical span exceeding a threshold).

Parameter	Type	Default	Description
<plugin>.vertical_bins_min	int	3	Minimum number of vertical bins required to consider a column as an obstacle.
<plugin>.height_threshold	double	0.25	Minimum vertical height (in meters) between max and min z to mark as an obstacle.
<plugin>.downsample	double	0.3	Voxel size used to downsample point clouds before obstacle detection.
<plugin>.fuse_frame	string	"map"	Frame in which points are fused before projection into NavMap.
Input Key:			Reads point clouds from NavState key "points".
Output Layer:			Updates or creates NavMap layer "obstacles".

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.

Parameter	Type	Default	Description
<plugin>.inflation_radius	double	0.3	Maximum inflation distance (m) from obstacles.
<plugin>.cost_scaling_factor	double	3.0	Exponential decay rate controlling how fast cost decreases with distance.
<plugin>.inscribed_radius	double	0.3	Radius of inscribed zone (constant high cost before decay).
Input Layer:			Reads from "obstacles".
Output Layer:			Writes to "inflated_obstacles".

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	<node_fqn>/<plugin>/map	navmap_ros_interfaces/msg/NavMap	Publishes the full NavMap.	depth=1
Publisher	<node_fqn>/<plugin>/map_updates	navmap_ros_interfaces/msg/NavMapLayer	Publishes incremental layer updates.	depth=100
Subscription	<node_fqn>/<plugin>/incoming_occ_map	nav_msgs/msg/OccupancyGrid	Input occupancy grid to import into NavMap.	depth=1, transient_local, reliable
Subscription	<node_fqn>/<plugin>/incoming_pc2_map	sensor_msgs/msg/PointCloud2	Input point cloud to build/update NavMap.	depth=100

Services

Direction	Service	Type	Purpose
Service Server	<node_fqn>/<plugin>/savemap	std_srvs/srv/Trigger	Saves the current NavMap and layers to disk.

NavState Keys

Key	Type	Access	Notes
map.navmap	::navmap::NavMap	Read	Reads the NavMap if already present in NavState.
map.navmap	::navmap::NavMap	Write	Stores the maintained NavMap, including generated layers "obstacles" and "inflated_obstacles".

TF Frames

Role	Transform	Notes
Publishes	—	No TF broadcasting in this manager; outputs are stamped in their configured frame.

Example Configuration

maps_manager_node:
  ros__parameters:
    use_sim_time: true
    map_types: [navmap]
    navmap:
      freq: 10.0
      plugin: easynav_navmap_maps_manager/NavMapMapsManager
      package: easynav_indoor_testcase
      navmap_path_file: maps/excavation_urjc.navmap
      filters: [obstacles, inflation]
      obstacles:
        plugin: easynav_navmap_maps_manager/NavMapMapsManager/ObstacleFilter
        height_threshold: 0.25
      inflation:
        plugin: easynav_navmap_maps_manager/NavMapMapsManager/InflationFilter
        inflation_radius: 1.0
        cost_scaling_factor: 2.0

License

Apache-2.0