easynav_bonxai_maps_manager

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README

easynav_bonxai_maps_manager

Description

Maps Manager that maintains a Bonxai probabilistic 3D occupancy map and exposes it via ROS topics, NavState, and a save-map service.

Authors and Maintainers

• Authors: Intelligent Robotics Lab

• Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

• Plugin Name: easynav_bonxai_maps_manager/BonxaiMapsManager

• Type: easynav_bonxai::BonxaiMapsManager

• Base Class: easynav::MapsManagerBase

• Library: easynav_bonxai_maps_manager

• Description: Maps Manager that maintains a Bonxai probabilistic 3D occupancy map and exposes it via ROS topics, NavState, and a save-map service.

Parameters

Plugin Parameters (namespace: /<node_fqn>/easynav_bonxai_maps_manager/BonxaiMapsManager/...)

Name	Type	Default	Description
<plugin>.package	string	""	Package name to resolve relative map paths via ament index.
<plugin>.bonxai_path_file	string	""	Relative path (inside the package) to a PCD file with 3D points to build the Bonxai map.
<plugin>.occmap_path_file	string	""	Relative path (inside the package) to a ROS-style YAML occupancy map to import.
<plugin>.resolution	double	0.3	Voxel resolution for the Bonxai map (meters).
<plugin>.frame_id	string	"map"	Frame ID stamped on published map messages.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	<node_fqn>/<plugin>/incoming_pc2_map	sensor_msgs/msg/PointCloud2	Input point cloud to build/update the Bonxai map.	QoS depth=100
Subscription	<node_fqn>/<plugin>/incoming_occ_map	nav_msgs/msg/OccupancyGrid	Input occupancy grid (YAML + PGM) to import into Bonxai.	QoS depth=1, transient_local, reliable
Publisher	<node_fqn>/<plugin>/map	sensor_msgs/msg/PointCloud2	Published Bonxai map as a point cloud.	QoS depth=1, transient_local, reliable

Services

Direction	Service	Type	Purpose
Service Server	<node_fqn>/<plugin>/savemap	std_srvs/srv/Trigger	Save current Bonxai map to disk.

NavState Keys

Key	Type	Access	Notes
map.bonxai	Bonxai::ProbabilisticMap	Write	Stores the current Bonxai map instance.

TF Frames

Role	Transform	Notes
Publishes	—	No TF broadcast; outputs use the configured frame_id.

License

Apache-2.0