Humble version with the latest features

.github/workflows/humble.yaml

@@ -7,23 +7,17 @@ on:
   push:
     branches:
       - humble
-  schedule:
-      - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-22.04]
-      fail-fast: false
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
     steps:
       - uses: actions/checkout@v4
         with:
           ref: humble
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: humble
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:

.github/workflows/humble_cron.yaml

@@ -0,0 +1,38 @@
+name: humble
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: humble
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: navmap_core navmap_ros navmap_ros_interfaces navmap_rviz_plugin
+          target-ros2-distro: humble
+          ref: humble
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/jazzy.yaml

@@ -7,23 +7,17 @@ on:
   push:
     branches:
       - jazzy
-  schedule:
-      - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - uses: actions/checkout@v4
         with:
           ref: jazzy
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: jazzy
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:

.github/workflows/jazzy_cron.yaml

@@ -0,0 +1,38 @@
+name: jazzy
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: jazzy
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: navmap_core navmap_ros navmap_ros_interfaces navmap_rviz_plugin
+          target-ros2-distro: jazzy
+          ref: jazzy
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/kilted.yaml

@@ -7,23 +7,17 @@ on:
   push:
     branches:
       - kilted
-  schedule:
-      - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - uses: actions/checkout@v4
         with:
           ref: kilted
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: kilted
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:

.github/workflows/kilted_cron.yaml

@@ -0,0 +1,38 @@
+name: kilted
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: kilted
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: navmap_core navmap_ros navmap_ros_interfaces navmap_rviz_plugin
+          target-ros2-distro: kilted
+          ref: kilted
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/lyrical.yaml

@@ -0,0 +1,42 @@
+name: lyrical
+
+on:
+  pull_request:
+    branches:
+      - lyrical
+  push:
+    branches:
+      - lyrical
+  schedule:
+      - cron: '0 0 * * 6'
+  workflow_dispatch:
+jobs:
+  build-and-test:
+    runs-on: ubuntu-26.04
+    container:
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-ros-lyrical-ros-base:master
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          ref: lyrical
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.8
+        with:
+          package-name: navmap_core navmap_ros navmap_ros_interfaces navmap_rviz_plugin
+          target-ros2-distro: lyrical
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/rolling.yaml

@@ -8,24 +8,19 @@ on:
     branches:
       - rolling
   schedule:
-      - cron: '0 0 * * 6'     
+      - cron: '0 0 * * 6'
+  workflow_dispatch:
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-26.04
+    container:
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-ros-rolling-ros-base:master
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           ref: rolling
-      - name: Setup ROS 2
-        uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: rolling
       - name: build and test
-        uses: ros-tooling/action-ros-ci@0.4.5
+        uses: ros-tooling/action-ros-ci@0.4.8
         with:
           package-name: navmap_core navmap_ros navmap_ros_interfaces navmap_rviz_plugin
           target-ros2-distro: rolling

.gitignore

@@ -0,0 +1,8 @@
+# VS Code stuff 
+/.vscode/**
+**/__pycache__/
+
+# ROS 2 build files
+build/
+install/
+log/

README.md

@@ -1,6 +1,7 @@
 # NavMap
 [![Doxygen Deployment](https://github.com/EasyNavigation/NavMap/actions/workflows/doxygen-doc.yml/badge.svg)](https://github.com/EasyNavigation/NavMap/actions/workflows/doxygen-doc.yml)
 [![rolling](https://github.com/EasyNavigation/NavMap/actions/workflows/rolling.yaml/badge.svg?branch=rolling)](https://github.com/EasyNavigation/NavMap/actions/workflows/rolling.yaml)
+[![lyrical](https://github.com/EasyNavigation/NavMap/actions/workflows/lyrical.yaml/badge.svg?branch=lyrical)](https://github.com/EasyNavigation/NavMap/actions/workflows/lyrical.yaml)
 [![kilted](https://github.com/EasyNavigation/NavMap/actions/workflows/kilted.yaml/badge.svg?branch=kilted)](https://github.com/EasyNavigation/NavMap/actions/workflows/kilted.yaml)
 [![jazzy](https://github.com/EasyNavigation/NavMap/actions/workflows/jazzy.yaml/badge.svg?branch=jazzy)](https://github.com/EasyNavigation/NavMap/actions/workflows/jazzy.yaml)
 [![humble](https://github.com/EasyNavigation/NavMap/actions/workflows/humble.yaml/badge.svg?branch=humble)](https://github.com/EasyNavigation/NavMap/actions/workflows/humble.yaml)

navmap_core/CHANGELOG.rst

@@ -2,6 +2,23 @@
 Changelog for package navmap_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.5.0 (2026-07-25)
+------------------
+* Update version
+* Speedup the navcel location
+* Cleanup unused headers
+* Fix potential linker error and warning
+* Merge branch 'jazzy' into rolling
+* Contributors: Francisco Martín Rico, Francisco Miguel Moreno
+
+0.4.0 (2025-11-24)
+------------------
+* Speedup the navcel location
+* Cleanup unused headers
+* Fix potential linker error and warning
+* Merge branch 'jazzy' into rolling
+* Contributors: Francisco Martín Rico, Francisco Miguel Moreno
+
 0.2.5 (2025-10-17)
 ------------------
 

navmap_core/include/navmap_core/Geometry.hpp

@@ -34,7 +34,6 @@
 #include <limits>
 #include <cmath>
 #include <algorithm>
-#include <array>
 
 namespace navmap
 {

navmap_core/include/navmap_core/NavMap.hpp

@@ -45,10 +45,8 @@
 #include <string>
 #include <array>
 #include <limits>
-#include <stack>
 #include <cmath>
 #include <cstdint>
-#include <span>
 #include <type_traits>
 #include <deque>
 #include <algorithm>
@@ -199,6 +197,40 @@ struct LayerView : LayerViewBase
   ///@}
 };
 
+/** @cond INTERNAL */
+namespace detail
+{
+inline std::uint64_t fnv1a64_bytes(
+  const void * data, std::size_t n,
+  std::uint64_t seed = 1469598103934665603ULL)
+{
+  const auto * p = static_cast<const std::uint8_t *>(data);
+  std::uint64_t h = seed;
+  for (std::size_t i = 0; i < n; ++i) {
+    h ^= p[i]; h *= 1099511628211ULL;
+  }
+  return h;
+}
+}  // namespace detail
+/** @endcond */
+
+template<typename T>
+std::uint64_t LayerView<T>::content_hash() const
+{
+  if (!hash_dirty_) {return hash_cache_;}
+  const std::size_t n = data_.size();
+  std::uint64_t h = navmap::detail::fnv1a64_bytes(&n, sizeof(n));
+  if (n) {
+    static_assert(
+      std::is_trivially_copyable<T>::value,
+      "LayerView<T> requires trivially copyable T.");
+    h = navmap::detail::fnv1a64_bytes(data_.data(), n * sizeof(T), h);
+  }
+  hash_cache_ = h;
+  hash_dirty_ = false;
+  return hash_cache_;
+}
+
 /**
  * \brief Registry of named layers (per-NavCel).
  *

navmap_core/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>navmap_core</name>
-  <version>0.2.5</version>
+  <version>0.5.0</version>
   <description>Core C++ library for NavMap.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>