# ANYbotics/grid_map

Universal grid map library for mobile robotic mapping

Repository: https://github.com/ANYbotics/grid_map
Canonical: https://ross.abutalabs.com/products/grid_map
Language: C++
License: BSD-3-Clause
License Family: permissive
Topics: ros, grid-map, mapping, terrain, height-map, cpp, opencv, occupancy, elevation, octopmap, pcl, rviz, costmap, navigation
Last push: 2026-01-13T04:08:57+00:00

## Health v2 (maintenance only)
Score: 51/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 62, release rhythm 8, longevity 100
- inputs: {"age_days": 4374, "days_push": 232, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 3225, forks 878 (observed 2026-08-28T04:07:49.926736+00:00)

## What it is
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
- artifact type: library
- maturity: active
- function: simulation, image-processing, data-visualization, middleware
- domain: robotics, autonomous-vehicles, simulation
- platform: cpp
- tags: grid-map, ros, elevation-mapping, terrain-navigation, eigen, rviz-plugin, costmap, pointcloud, mobile-robotics, algorithms, linux

## Member repositories
- ANYbotics/grid_map (main) score 51

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:49.926736+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 2026-08-29T18:44:16.833049+00:00, confidence not recorded.
  - readme: https://github.com/ANYbotics/grid_map (fetched 2026-08-28T04:07:49.926736+00:00, sha 1010d4beba63)
- Data as of 2026-08-30T08:39:29.467469+00:00.