Speed Filter Parameters¶
Speed Filter - is a Costmap Filter that restricting maximum velocity of robot. The areas where robot should slow down and values of maximum allowed velocities are encoded at filter mask. Filter mask published by Map Server, goes in a pair with filter info topic published by Costmap Filter Info Server. Speed Filter itself publishes a speed restricting messages which are targeted for a Controller in order to make the robot to not exceed the required velocity.
<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.
Topic to publish speed limit to. The messages have the following fields’ meaning:
percentage: speed limit is expressed in percentage if
trueor in absolute values in
falsecase. This parameter is set depending on
speed_limit: non-zero values show maximum allowed speed expressed in a percent of maximum robot speed or in absolute value depending on
percentagevalue. Zero value means no speed restriction (independently on
speed_limitis being linearly converted from
OccupancyGridfilter mask value as:
speed_limit = base + multiplier * mask_value, where
multipliercoefficients are taken from
speed_limitexpressed in a percent should belong to
(0.0 .. 100.0]range.
This topic will be used by a Controller Server. Please refer to Controller Server configuration page to set it appropriately.
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: ["speed_filter"] ... speed_filter: plugin: "nav2_costmap_2d::SpeedFilter" enabled: True filter_info_topic: "/costmap_filter_info" speed_limit_topic: "/speed_limit" transform_tolerance: 0.1