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.
Note: As Costmap Filters does not have the inflation layer applied to them (since inflation is not sensible for a speed or other non-occupation zone type), it may be beneficial to add a separate inflation layer into the vector of filters when using only a keepout zone. Some planners (e.g. Smac Feasible) will use the cost of the center point for a collision checking optimization before doing full SE2 footprint checks. Without inflation, the planner will not respect the Keepout Zone on it extremities – but will still respect it for the robot centers. If you wish to have a Keepout Zone for any part of the robot base while using a feasible planner, please enable the inflation layer.
<filter name>: is the corresponding plugin name selected for this type.
Whether it is enabled.
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.
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.
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