Nav2 default-parameter changelog (demo)
· 5f34bc3 · 1 watched files, +23/−0

14 new parameters in nav2_bringup/.

params
  • Added 2 flags: global_costmap.global_costmap.keepout_filter.enabled (default on) and local_costmap.local_costmap.keepout_filter.enabled (default on).
  • Added 12 parameters: costmap_filter_info_server.base = 0.0, costmap_filter_info_server.filter_info_topic = "costmap_filter_info", costmap_filter_info_server.mask_topic = "keepout_filter_mask", costmap_filter_info_server.multiplier = 1.0, costmap_filter_info_server.type = 0, filter_mask_server.topic_name = "keepout_filter_mask", global_costmap.global_costmap.filters = ["keepout_filter"], global_costmap.global_costmap.keepout_filter.filter_info_topic = "costmap_filter_info" and 4 more.
  • Most activity in nav2_bringup/ (+23/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (14)

NameValueTypeFile
costmap_filter_info_server.base0.0numbernav2_bringup/params/nav2_params.yaml
costmap_filter_info_server.filter_info_topic"costmap_filter_info"stringnav2_bringup/params/nav2_params.yaml
costmap_filter_info_server.mask_topic"keepout_filter_mask"stringnav2_bringup/params/nav2_params.yaml
costmap_filter_info_server.multiplier1.0numbernav2_bringup/params/nav2_params.yaml
costmap_filter_info_server.type0numbernav2_bringup/params/nav2_params.yaml
filter_mask_server.topic_name"keepout_filter_mask"stringnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.filters["keepout_filter"]listnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.keepout_filter.enabledTrueboolnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.keepout_filter.filter_info_topic"costmap_filter_info"stringnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.keepout_filter.plugin"nav2_costmap_2d::KeepoutFilter"stringnav2_bringup/params/nav2_params.yaml
local_costmap.local_costmap.filters["keepout_filter"]listnav2_bringup/params/nav2_params.yaml
local_costmap.local_costmap.keepout_filter.enabledTrueboolnav2_bringup/params/nav2_params.yaml
local_costmap.local_costmap.keepout_filter.filter_info_topic"costmap_filter_info"stringnav2_bringup/params/nav2_params.yaml
local_costmap.local_costmap.keepout_filter.plugin"nav2_costmap_2d::KeepoutFilter"stringnav2_bringup/params/nav2_params.yaml

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Nav2 update (May 9): new flag global_costmap/global_costmap/keepout_filter/enabled (ON by default) - new flag local_costmap/local_costmap/keepout_filter/enabled (ON by default) - new costmap_filter_info_server/base = 0.0 - new costmap_filter_info_server/multiplier = 1.0

270/280 weighted chars

Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/5f34bc3.html Commit: https://github.com/ros-navigation/navigation2/commit/5f34bc362b65a6d4f3bd08f21c0531f6f1468b06 Values are repo defaults from the params files.

112/280 weighted chars

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Mnav2_bringup/params/nav2_params.yaml+23/−0

Commit message

Added keepout filter for depot and warehouse maps (#5125)

* Added keepout region to warehouse map.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Support keepout_map as a launch argument.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Added a dictionary to switch between tb4 maps.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Added dedicated launch file for map modifiers.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Added support for depot keepout filter.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Updated keepout masks for depot and warehouse.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Renamed keepout filter launch arguments to keepout zones.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Renamed keepout map launch argument to keepout mask

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Renamed map_modifier.launch.py to keepout_zone_launch.py.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Preserve duplication of nodes for keepout test.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Removed padding from keepout zones from depot map.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Added keepout zone at the centre of the warehouse map.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Added utility script to handle namespaces for keepout_filter.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Used utility function to simplify namespace calls.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Moved joinWithParentNamespace to the Layer object.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

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Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>