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