easynav_octomap_maps_manager

maps_managers/easynav_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_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
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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_octomap_maps_manager` at Robotics Stack Exchange

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

easynav_octomap_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_octomap_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_octomap_maps_manager

Description

Maps Manager that maintains an OctoMap (probabilistic 3D occupancy tree), supports filter plugins (e.g., inflation and obstacle filters), and exposes the map through ROS 2 topics. This README documents plugin-level parameters only.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_octomap_maps_manager/OctomapMapsManager
Type: easynav::octomap::OctomapMapsManager
Base Class: easynav::MapsManagerBase
Library: easynav_octomap_maps_manager
Description: Maintains an OctoMap instance, handles map loading/import, point-cloud ingestion, and filter application.

Parameters

Plugin Parameters

The current code (OctomapMapsManager.cpp) has the high-level parameter declarations for package and map paths commented out. Active runtime parameters are therefore limited to filter plugin namespaces populated by entries in filters (if/when enabled). Until the declarations are restored, only filter-local parameters are honored.

Filter Parameters

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

InflationFilter

Name	Type	Default	Description
`<plugin>.inflation.inflation_radius`	`double`	`0.3`	Inflation radius (m) used to expand occupied cells.
`<plugin>.inflation.cost_scaling_factor`	`double`	`3.0`	Exponential decay controlling the reduction of cost with distance.
`<plugin>.inflation.inscribed_radius`	`double`	`0.3`	Inscribed radius (m) used by the inflation model.

ObstacleFilter

This filter does not declare additional ROS parameters apart from plugin.

Example Configuration

maps_manager_node:
  ros__parameters:
    map_types: [octomap]
    octomap:
      plugin: easynav_octomap_maps_manager/OctomapMapsManager
      package: my_maps_pkg
      octomap_path_file: maps/site.pcd
      filters: [inflation, obstacles]
      inflation:
        plugin: easynav_octomap_maps_manager/InflationFilter
        inflation_radius: 0.3
        cost_scaling_factor: 3.0
        inscribed_radius: 0.3
      obstacles:
        plugin: easynav_octomap_maps_manager/ObstacleFilter

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/map`	`octomap_msgs/msg/Octomap`	Publishes the current OctoMap.	depth=1
Subscription	`<node_fqn>/<plugin>/incoming_pc2_map`	`sensor_msgs/msg/PointCloud2`	Input point cloud used to build/update the OctoMap.	depth=100

Services

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

NavState Keys

Key	Type	Access	Notes
`map`	`::octomap::Octomap`	Read	If present in NavState, used as an input/seed map. (Plugin currently does not write back to NavState.)

TF Frames

Role

Transform

Notes

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_octomap_maps_manager

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	tf2
	tf2_ros
	tf2_geometry_msgs
	pluginlib
	nav_msgs
	sensor_msgs
	ament_index_cpp
	octomap_ros
	octomap_msgs
	pcl_conversions
	pcl_ros
	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.

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