# ANYbotics/elevation_mapping

Robot-centric elevation mapping for rough terrain navigation

Repository: https://github.com/ANYbotics/elevation_mapping
Canonical: https://ross.abutalabs.com/products/elevation_mapping
Language: C++
License: BSD-3-Clause
License Family: permissive
Topics: ros, robotics, mapping, terrain-mapping
Last push: 2024-11-04T10:55:13+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 4500, "days_push": 667, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1857, forks 511 (observed 2026-08-28T04:05:45.010488+00:00)

## What it is
A ROS package for robot-centric elevation mapping of rough terrain, built for mobile and legged robots equipped with pose estimation and distance sensors. It produces local probabilistic elevation maps that explicitly handle pose estimation drift for navigation tasks.

## Use cases
- map terrain elevation for legged robot locomotion
- build local elevation maps from depth cameras or lidar on a mobile robot
- handle odometry drift in terrain mapping for rough-terrain navigation
- provide elevation maps as input to a locomotion or footstep planner
- map outdoor terrain like stairs and forests with a quadruped robot

## When to choose
- you need probabilistic, robot-centric elevation maps on ROS for rough terrain navigation
- your robot has pose estimation plus a depth or range sensor and you need drift-aware local mapping
- you work with legged robots (e.g. ANYmal) and need terrain perception for locomotion planning

## When to avoid
- you need actively maintained software - the project is no longer actively maintained
- you need global large-scale mapping rather than a local map around the robot
- you are not using ROS or cannot integrate C++ ROS packages

## Facets
- artifact type: library
- maturity: maintenance
- function: simulation, robotics, nlp
- domain: robotics, autonomous-vehicles, simulation
- platform: cpp
- tags: elevation-mapping, terrain-mapping, ros, legged-robots, perception, navigation, probabilistic-mapping, linux

## Member repositories
- ANYbotics/elevation_mapping (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:45.010488+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:16:14.121872+00:00, confidence not recorded.
  - readme: https://github.com/ANYbotics/elevation_mapping (fetched 2026-08-28T04:05:45.010488+00:00, sha ccac0928d9c6)
- Data as of 2026-08-30T08:39:29.467469+00:00.