File conversions.hpp

↰ Parent directory (include/navmap_ros)

Conversions between the core NavMap representation and ROS messages.

Definition (include/navmap_ros/conversions.hpp)

• Program Listing for File conversions.hpp

Detailed Description

This header provides:

• Lossless conversion between the core type navmap::NavMap and the compact transport message navmap_ros_interfaces::msg::NavMap.

• Bidirectional conversion between nav_msgs::msg::OccupancyGrid and navmap::NavMap using a regular triangular mesh (shared vertices, two triangles per grid cell).

Occupancy mapping

When building a NavMap from an OccupancyGrid, a per-NavCel (triangle) layer named "occupancy" (uint8) is added with the following value mapping:

• -1 (unknown) → 255

• 0..100 (percent) → 0..254 (linear scaling)

The reverse conversion reuses that layer when present.

Includes

• Eigen/Core

• memory

• nav_msgs/msg/occupancy_grid.hpp

• navmap_core/NavMap.hpp

• navmap_ros_interfaces/msg/nav_map.hpp

• navmap_ros_interfaces/msg/nav_map_layer.hpp

• pcl/point_cloud.h

• pcl/point_types.h

• sensor_msgs/msg/point_cloud2.hpp

• string

• vector

Included By

• File navmap_io.hpp

Namespaces

• Namespace navmap_ros

Classes

• Struct BuildParams

Functions

• Function navmap_ros::from_msg(const navmap_ros_interfaces::msg::NavMap&)

• Function navmap_ros::from_msg(const navmap_ros_interfaces::msg::NavMapLayer&, navmap::NavMap&)

• Function navmap_ros::from_occupancy_grid

• Function navmap_ros::from_pointcloud2

• Function navmap_ros::from_points

• Function navmap_ros::to_msg(const navmap::NavMap&)

• Function navmap_ros::to_msg(const navmap::NavMap&, const std::string&)

• Function navmap_ros::to_occupancy_grid