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: int Default: 0

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
4: zone parameter filter

`filter_info_topic`

Type: string Default: "costmap_filter_info": Topic to publish costmap filter information to.

`mask_topic`

Type: string Default: "filter_mask": 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: double Default: 0.0: Base of OccupancyGrid mask value -> filter space value linear conversion which is being proceeded as: filter_space_value = base + multiplier * mask_value

`multiplier`

Type: double Default: 1.0: 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: double Default: 0.25: The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.

`allow_parameter_qos_overrides`

Type: bool Default: true: 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