easynav_costmap_maps_manager

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
kilted

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.3.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	kilted
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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_maps_manager

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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_costmap_maps_manager package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

maps_managers/easynav_costmap_maps_manager/README.md

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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.

easynav_costmap_maps_manager

Description

Maps Manager that maintains 2D costmaps (static and dynamic), supports filter plugins (such as inflation and obstacle filters), and exposes maps through ROS topics and NavState integration.

At the core of this stack lies the Costmap2D data structure. Costmap2D extends the binary occupancy grid into a graded cost representation with values in the range [0–255]:

0: Free space, no cost to traverse.
1–252: Gradual cost values, representing increasing difficulty or proximity to obstacles.
253: “Near obstacle” (inscribed obstacle) cost, traversal strongly discouraged.
254: Lethal obstacle, occupied cell.
255: Unknown space.

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_costmap_maps_manager/CostmapMapsManager
Type: easynav::CostmapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_costmap_maps_manager
Description: Maintains a Costmap2D instance and manages map loading, updates, and filtering operations.

Parameters

Plugin Parameters (namespace: `/<node_fqn>/easynav_costmap_maps_manager/CostmapMapsManager/...`)

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 ROS 1–style YAML map (with `image`, `resolution`, `origin`, etc.).
`<plugin>.filters`	`string[]`	`[]`	List of filter identifiers to be instantiated (see section below).
`<plugin>.<filter>.plugin`	`string`	`""`	Type of filter plugin (e.g., `easynav_costmap_maps_manager/InflationFilter`).

Filter Plugins

Each entry in <plugin>.filters defines a sub-namespace <plugin>.<filter> with at least the key plugin, plus any filter-specific parameters.

ObstacleFilter

Plugin Name: easynav_costmap_maps_manager/ObstacleFilter
Type: easynav::ObstacleFilter
Description:
Detects occupied cells from input point clouds (points key in NavState) and marks them as LETHAL_OBSTACLE in the dynamic costmap.
The filter fuses incoming 3D points into the map frame, downsamples them to the costmap resolution, filters out ground-level points (z < 0.1 m), and sets corresponding cells to lethal cost. Additionally, it computes and stores bounding box (ObstacleBounds) of updated obstacles to enable efficient incremental inflation.

Parameters:

Parameter	Type	Default	Description
(None)	—	—	This filter does not declare additional ROS parameters beyond `plugin`. Downsampling resolution and frame fusion use the costmap’s own resolution and `map` frame.

NavState Keys:

Key	Type	Access	Description
`points`	`sensor_msgs::msg::PointCloud2`	Read	Input point clouds to detect obstacles.
`map.dynamic.filtered`	`Costmap2D`	Write	Marks cells as `LETHAL_OBSTACLE` (254).
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Write	Bounding box of updated obstacles for incremental inflation.

InflationFilter

Plugin Name: easynav_costmap_maps_manager/InflationFilter
Type: easynav::InflationFilter
Description:
Expands obstacle information in the costmap by assigning graded costs around LETHAL_OBSTACLE cells based on distance. Uses a breadth-first wavefront propagation algorithm (distance bins) to efficiently inflate obstacles up to inflation_radius.
The filter reads both the static map and the dynamic filtered map, applies inflation to each, and merges results. If ObstacleBounds is available in NavState, inflation is restricted to the updated region for performance.

Parameters:

Parameter	Type	Default	Description
`<plugin>.inflation_radius`	`double`	`0.3`	Maximum inflation distance (m) from obstacles. Cells farther than this receive no inflation cost.
`<plugin>.inscribed_radius`	`double`	`0.25`	Radius of the inscribed zone (m). Cells within this distance of an obstacle are marked with high constant cost (`INSCRIBED_INFLATED_OBSTACLE`, value 253) before exponential decay begins.
`<plugin>.cost_scaling_factor`	`double`	`3.0`	Exponential decay rate controlling how quickly cost decreases with distance beyond the inscribed radius. Higher values produce steeper cost gradients.

NavState Keys:

Key	Type	Access	Description
`map.static`	`Costmap2D`	Read	Static costmap to inflate.
`map.dynamic.filtered`	`Costmap2D`	Read/Write	Dynamic costmap input and output after inflation.
`map.dynamic.obstacle_bounds`	`ObstacleBounds`	Read (optional)	Restricts inflation to updated region for performance.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_costmap_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, Jose Miguel, 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_costmap_common
	std_srvs
	yaets
	yaml_cpp_vendor

System Dependencies

Name
graphicsmagick

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.

Recent questions tagged `easynav_costmap_maps_manager` at Robotics Stack Exchange