easynav_octomap_maps_manager

Easy Navigation: Simple MapsManager package.

README

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
Publishes	—	This manager does not broadcast TF; outputs are stamped using the configured frame(s) in the map data.

License

Apache-2.0