grid_map

Supports any number of data layers for 2.5D mapping, allowing diverse data like elevation, color, and traversability in one structure, as highlighted in the overview.

Uses a circular buffer to shift map positions without copying data, crucial for real-time mobile robotics, demonstrated in the move() method animations.

Stores data as Eigen types, enabling direct use of Eigen's linear algebra algorithms for efficient manipulation, with examples like layer arithmetic in the iterators section.

Provides direct conversion to and from ROS messages like PointCloud2 and OccupancyGrid, with packages for costmap_2d, PCL, and OctoMap integration.

Includes a range of filters and mathematical expression evaluation via EigenLab, shown in the filters_demo for tasks like normal vector computation and inpainting.