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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 kilted
jazzy kilted
kilted kilted
rolling 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