Keepout Filter Parameters

Keepout Filter - is a Costmap Filter that enforces robot to avoid keepout areas or stay on preferred lanes, by updating corresponding costmap layer using filter mask information.

<filter name>: is the corresponding plugin name selected for this type.

<filter name>.enabled:  

Type	Default
bool	True

Description

Whether it is enabled.

<filter name>.filter_info_topic:  

Type	Default
string	N/A

Description

Name of the incoming CostmapFilterInfo topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the Map Server / Saver configuration page.

<filter name>.transform_tolerance:  

Type	Default
double	0.1

Description

Time with which to post-date the transform that is published, to indicate that this transform is valid into the future. Used when filter mask and current costmap layer are in different frames.

Example

global_costmap:
  global_costmap:
    ros__parameters:
      ...
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      filters: ["keepout_filter"]
      ...
      keepout_filter:
        plugin: "nav2_costmap_2d::KeepoutFilter"
        enabled: True
        filter_info_topic: "/costmap_filter_info"
        transform_tolerance: 0.1
...
local_costmap:
  local_costmap:
    ros__parameters:
      ...
      plugins: ["voxel_layer", "inflation_layer"]
      filters: ["keepout_filter"]
      ...
      keepout_filter:
        plugin: "nav2_costmap_2d::KeepoutFilter"
        enabled: True
        filter_info_topic: "/costmap_filter_info"
        transform_tolerance: 0.1