Nav2 default-parameter changelog (demo)
· df12f68 · 1 watched files, +25/−6

Parameter changes: global_costmap.global_costmap.filters ["keepout_filter"]→["keepout_filter", "speed_filter"], global_costmap.global_costmap.keepout_filter.filter_info_topic "costmap_filter_info"→"keepout_costmap_filter_info" and local_costmap.local_costmap.keepout_filter.filter_info_topic "costmap_filter_info"→"keepout_costmap_filter_info".

paramsrenamed
  • Parameter defaults changed: global_costmap.global_costmap.filters: ["keepout_filter"] → ["keepout_filter", "speed_filter"] (in nav2_bringup/params/nav2_params.yaml), global_costmap.global_costmap.keepout_filter.filter_info_topic: "costmap_filter_info" → "keepout_costmap_filter_info" (in nav2_bringup/params/nav2_params.yaml) and local_costmap.local_costmap.keepout_filter.filter_info_topic: "costmap_filter_info" → "keepout_costmap_filter_info" (in nav2_bringup/params/nav2_params.yaml).
  • Section renamed: costmap_filter_info_server → keepout_costmap_filter_info_server (4 keys, values unchanged).
  • Added 1 flag: global_costmap.global_costmap.speed_filter.enabled (default on).
  • Added 12 parameters: controller_server.speed_limit_topic = "speed_limit", global_costmap.global_costmap.speed_filter.filter_info_topic = "speed_costmap_filter_info", global_costmap.global_costmap.speed_filter.plugin = "nav2_costmap_2d::SpeedFilter", global_costmap.global_costmap.speed_filter.speed_limit_topic = "speed_limit", keepout_costmap_filter_info_server.filter_info_topic = "keepout_costmap_filter_info", keepout_filter_mask_server.topic_name = "keepout_filter_mask", speed_costmap_filter_info_server.base = 100.0, speed_costmap_filter_info_server.filter_info_topic = "speed_costmap_filter_info" and 4 more.
  • Removed 2 parameters: costmap_filter_info_server.filter_info_topic and filter_mask_server.topic_name.
  • Most activity in nav2_bringup/ (+25/−6).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
global_costmap.global_costmap.filters["keepout_filter"]["keepout_filter", "speed_filter"]nav2_bringup/params/nav2_params.yamlros2_yaml
global_costmap.global_costmap.keepout_filter.filter_info_topic"costmap_filter_info""keepout_costmap_filter_info"nav2_bringup/params/nav2_params.yamlros2_yaml
local_costmap.local_costmap.keepout_filter.filter_info_topic"costmap_filter_info""keepout_costmap_filter_info"nav2_bringup/params/nav2_params.yamlros2_yaml

Added (13)

NameValueTypeFile
controller_server.speed_limit_topic"speed_limit"stringnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.speed_filter.enabledTrueboolnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.speed_filter.filter_info_topic"speed_costmap_filter_info"stringnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.speed_filter.plugin"nav2_costmap_2d::SpeedFilter"stringnav2_bringup/params/nav2_params.yaml
global_costmap.global_costmap.speed_filter.speed_limit_topic"speed_limit"stringnav2_bringup/params/nav2_params.yaml
keepout_costmap_filter_info_server.filter_info_topic"keepout_costmap_filter_info"stringnav2_bringup/params/nav2_params.yaml
keepout_filter_mask_server.topic_name"keepout_filter_mask"stringnav2_bringup/params/nav2_params.yaml
speed_costmap_filter_info_server.base100.0numbernav2_bringup/params/nav2_params.yaml
speed_costmap_filter_info_server.filter_info_topic"speed_costmap_filter_info"stringnav2_bringup/params/nav2_params.yaml
speed_costmap_filter_info_server.mask_topic"speed_filter_mask"stringnav2_bringup/params/nav2_params.yaml
speed_costmap_filter_info_server.multiplier-1.0numbernav2_bringup/params/nav2_params.yaml
speed_costmap_filter_info_server.type1numbernav2_bringup/params/nav2_params.yaml
speed_filter_mask_server.topic_name"speed_filter_mask"stringnav2_bringup/params/nav2_params.yaml

Removed (2)

NameLast valueNote
costmap_filter_info_server.filter_info_topic"costmap_filter_info"removed from nav2_bringup/params/nav2_params.yaml
filter_mask_server.topic_name"keepout_filter_mask"removed from nav2_bringup/params/nav2_params.yaml

Renamed keys (4)

Show renamed keys (values unchanged)
Old nameNew nameValue
costmap_filter_info_server.basekeepout_costmap_filter_info_server.base0.0
costmap_filter_info_server.mask_topickeepout_costmap_filter_info_server.mask_topic"keepout_filter_mask"
costmap_filter_info_server.multiplierkeepout_costmap_filter_info_server.multiplier1.0
costmap_filter_info_server.typekeepout_costmap_filter_info_server.type0

Post text (X-ready, not posted)

Nav2 update (May 15): new flag global_costmap/global_costmap/speed_filter/enabled (ON by default) Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/df12f68.html Commit: https://github.com/ros-navigation/navigation2/commit/df12f68464418582c7fad7d1790fc0480c8d1185 Values are repo defaults from the params files.

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Watched files (1)

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Mnav2_bringup/params/nav2_params.yaml+25/−6

Commit message

Add speed filter zones to depot and warehouse maps. (#5146)

* Added keepout prefix to keepout zone related params.

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

* Add namespace support for speed filter zones.

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

* Added speed filter zones to depot and warehouse maps.

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

* Added dedicated launch file for speed zone support.

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

* Updated rviz2 config to include speed zone filter.

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

* Preserve initial nature of costmap filters tests.

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

* Enable namespace for the speed limit topic.

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

* Update speed filter zones in depot and warehouse maps

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

* Readjust speed filter zones in depot and warehouse maps.

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

* Enable namespace support for speed limit topic.

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

* Reduced central speed zone in warehouse map.

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

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