Costmap Filter Info Server
The costmap filter info server is responsible for providing information about the Costmap Filters being used in the navigation stack. It publishes costmap filter mask specific metadata on a configured topic. This metadata is used by other components in the system to interpret the values in the costmap filter masks.
Costmap Filter Info Server Parameters
- type
Type
Default
int
0
- Description
Type of costmap filter used. This is an enum for the type of filter this should be interpreted as. We provide the following pre-defined types:
0: keepout zones / preferred lanes filter
1: speed filter, speed limit is specified in % of maximum speed
2: speed filter, speed limit is specified in absolute value (m/s)
3: binary filter
- filter_info_topic
Type
Default
string
“costmap_filter_info”
- Description
Topic to publish costmap filter information to.
- mask_topic
Type
Default
string
“filter_mask”
- Description
Topic to publish filter mask to. The value of this parameter should be in accordance with
topic_name
parameter of Map Server tuned to filter mask publishing.
- base
Type
Default
double
0.0
- Description
Base of
OccupancyGrid
mask value -> filter space value linear conversion which is being proceeded as:filter_space_value = base + multiplier * mask_value
- multiplier
Type
Default
double
1.0
- Description
Multiplier of
OccupancyGrid
mask value -> filter space value linear conversion which is being proceeded as:filter_space_value = base + multiplier * mask_value
- bond_heartbeat_period
Type
Default
double
0.1
- Description
The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
- allow_parameter_qos_overrides
Type
Default
bool
true
- Description
Whether to allow QoS profiles to be overwritten with parameterized values.
Example
map_server:
ros__parameters:
yaml_filename: "turtlebot3_world.yaml"
topic_name: "map"
frame_id: "map"
introspection_mode: "disabled"
map_saver:
ros__parameters:
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
introspection_mode: "disabled"
costmap_filter_info_server:
ros__parameters:
type: 1
filter_info_topic: "costmap_filter_info"
mask_topic: "filter_mask"
base: 0.0
multiplier: 0.25