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NavMap

  • Software
  • Navigation and mapping
  • Library

NavMap is a C++ and ROS 2 library that represents navigable surfaces for mobile robot navigation and localization as triangular meshes instead of grid maps.

Made by EasyNavigation.

Source on GitHub: github.com/EasyNavigation/NavMap (opens in a new tab). Facts read at commit cdfe555 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit cdfe555 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Stores the environment as triangular cells (NavCels) with adjacency, supporting several disconnected surfaces such as multi-floor buildings.
  • Attaches runtime layers to cells or vertices, such as occupancy, elevation, cost and traversability.
  • Locates the cell under a 3D position using BVH acceleration, and supports raycasting with Möller–Trumbore intersection.
  • Provides iterators over cells (box, disc, ring, polygon, distance order and segment walk) that grow over the surface.
  • Includes log-odds occupancy with free, occupied and unknown states, geometric descriptors, links between surfaces, and layer combination and simplification.
  • Converts maps to and from ROS 2 messages, saves and loads them as compressed files, and offers an RViz2 plugin for visualization.

Written by Robotheca from the project's README (opens in a new tab) at commit cdfe555.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
Requires a C++23 compiler, Eigen3, ROS 2 (tested with Humble, Iron and Jazzy), and PCL for mesh construction utilities; RViz2 is needed for the visualization plugin.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
15 Oct 2026 on rolling
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.