ANYbotics/grid_map

Health v2 · maintenance only

Adoption not part of the score

3225 stars · 878 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-29, confidence not recorded

A C++ library with a ROS interface for managing multi-layered 2D grid maps for mobile robotic mapping, storing data like elevation, traversability, and surface normals. It features efficient circular-buffer map repositioning and conversions to ROS, OpenCV, PCL, and OctoMap data types.

Use cases

• store elevation and terrain data for legged robot navigation
• convert point clouds to grid maps in ROS
• visualize height maps in RViz
• compute traversability maps for rough terrain
• shift a robot-centric map without copying memory
• apply filters like smoothing and normal estimation to grid maps

When to choose

• you're building mobile robot navigation on rough terrain with ROS
• you need multi-layer 2.5D grid maps with efficient repositioning
• you want interoperability with costmap_2d, PCL, OctoMap, or OpenCV

When to avoid

• you need full 3D volumetric mapping rather than 2.5D grids
• your project doesn't use ROS or Eigen
• you need a production-guaranteed library, as it's research code that changes often

Facets

library · maturity active

simulation image-processing data-visualization middleware robotics autonomous-vehicles simulation cpp grid-map ros elevation-mapping terrain-navigation eigen rviz-plugin costmap pointcloud mobile-robotics algorithms linux

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