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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 kilted
jazzy kilted
kilted kilted
rolling 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