README

easynav_bonxai_maps_manager

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

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.

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.

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

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

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

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

Apache-2.0