easynav_simple_maps_manager

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README

easynav_simple_maps_manager

Description

Simple Maps Manager that demonstrates the Maps Manager API. It forwards/republishes a basic occupancy map flow and exposes standard topics and a save-map service.

At the heart of this stack is the SimpleMap data structure. It represents the environment as a 2D occupancy grid where each cell can be either 0 (free), 1 (occupied), or -1 (unknown).

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_simple_maps_manager/SimpleMapsManager

• Type: easynav::SimpleMapsManager

• Base Class: easynav::MapsManagerBase

• Library: easynav_simple_maps_manager

• Description: Simple (no-op) Maps Manager that demonstrates the Maps Manager API. It forwards/republishes a basic occupancy map flow and exposes standard topics and a save-map service.

Parameters

Plugin Parameters (namespace: /<node_fqn>/easynav_simple_maps_manager/SimpleMapsManager/...)

Name	Type	Default	Description
<plugin>.package	string	""	Package name used to resolve relative map paths via ament_index.
<plugin>.map_path_file	string	""	Relative path (inside the package) to a simple map.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	<node_fqn>/<plugin>/incoming_map	nav_msgs/msg/OccupancyGrid	Incoming occupancy map (used to feed the dynamic map).	QoS depth=1, transient_local, reliable
Publisher	<node_fqn>/<plugin>/map	nav_msgs/msg/OccupancyGrid	Published static map.	QoS depth=1
Publisher	<node_fqn>/<plugin>/dynamic_map	nav_msgs/msg/OccupancyGrid	Published dynamic (live) map.	QoS depth=100

Services

Direction	Service	Type	Purpose
Service Server	<node_fqn>/<plugin>/savemap	std_srvs/srv/Trigger	Saves current map(s) to disk.

NavState Keys

Key	Type	Access	Notes
points	PointPerceptions	Read	Optional perception points bundle (not strictly required for this no-op manager).
map.static	SimpleMap	Write	Static map loaded from file / parameter configuration.
map.dynamic	SimpleMap	Write	Dynamic map after applying incoming updates.

TF Frames

This manager does not broadcast TF; messages are stamped directly with their frame as provided.

License

Apache-2.0