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.

<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