Nav2 Voxel Grid

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d opennav_docking opennav_docking_bt opennav_docking_core costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_loopback_sim nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
jazzy

Package Summary

Version	1.3.10
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	jazzy
Last Updated	2025-10-23
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d opennav_docking opennav_docking_bt opennav_docking_core costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_loopback_sim nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
kilted

Package Summary

Version	1.4.2
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	kilted
Last Updated	2025-10-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_bringup nav2_bt_navigator nav2_common nav2_costmap_2d costmap_queue dwb_controller dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_dynamic_params nav2_map_server nav2_mission_executor nav2_motion_primitives nav2_msgs nav2_navfn_planner nav2_robot nav2_simple_navigator nav2_system_tests nav2_tasks nav2_util nav2_voxel_grid nav2_world_model navigation2

ROS Distro
crystal

Package Summary

Version	0.1.7
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	crystal-devel
Last Updated	2019-03-13
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

README

No README found. See repository README.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	ament_cmake_pytest
	launch
	launch_testing
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_turtlebot3_rl nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_rviz_plugins nav2_system_tests nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
eloquent

Package Summary

Version	0.3.5
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	eloquent-devel
Last Updated	2021-01-04
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_bringup nav2_bt_navigator nav2_common nav2_costmap_2d costmap_queue dwb_controller dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_dynamic_params nav2_turtlebot3_rl nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_recoveries nav2_rviz_plugins nav2_system_tests nav2_util nav2_voxel_grid nav2_world_model navigation2

ROS Distro
dashing

Package Summary

Version	0.2.6
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	dashing-devel
Last Updated	2020-12-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	ament_cmake_pytest
	launch
	launch_testing
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
galactic

Package Summary

Version	1.0.12
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	galactic
Last Updated	2022-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rviz_plugins nav2_system_tests nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 smac_planner

ROS Distro
foxy

Package Summary

Version	0.4.7
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	foxy-devel
Last Updated	2022-08-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
iron

Package Summary

Version	1.2.10
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	iron
Last Updated	2024-10-02
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange

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

nav2_voxel_grid package from navigation2 repo

nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_constrained_smoother nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_mppi_controller nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_route nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2

ROS Distro
humble

Package Summary

Version	1.1.19
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-planning/navigation2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-10-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.

Maintainers

Carl Delsey

Authors

No additional authors.

Nav2 Voxel Grid

The nav2_voxel_grid package contains the VoxelGrid used by the Voxel Layer inside of nav2_costmap_2d. The voxel grid itself is simply a 2D char pointer array of the map size with bit locations corresponding to voxel values (free, unknown, occupied , etc).

It is branched out as a separate package for use in other applications where a dense voxel grid representation may be useful. It also contains implementations of 3D raycasting.

ROS1 Comparison

This package is a direct port to ROS2 for use in the voxel layer.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	nav2_common
	ament_cmake
	ament_lint_common
	ament_lint_auto
	ament_cmake_gtest
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nonpersistent_voxel_layer
nav2_costmap_2d
navigation2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nav2_voxel_grid` at Robotics Stack Exchange