Jun 1, 2025: 4 new parameters in nav2_bringup/. · Nav2 default-parameter changelog (demo)

Jun 1, 2025 · eb2235a · 1 watched files, +4/−0

4 new parameters in nav2_bringup/.

params

Added 2 flags: global_costmap.global_costmap.keepout_filter.override_lethal_cost (default on) and local_costmap.local_costmap.keepout_filter.override_lethal_cost (default on).
Added 2 parameters: global_costmap.global_costmap.keepout_filter.lethal_override_cost = 200 and local_costmap.local_costmap.keepout_filter.lethal_override_cost = 200.
Most activity in nav2_bringup/ (+4/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (4)

Name	Value	Type	File
`global_costmap.global_costmap.keepout_filter.lethal_override_cost`	`200`	number	nav2_bringup/params/nav2_params.yaml
`global_costmap.global_costmap.keepout_filter.override_lethal_cost`	`True`	bool	nav2_bringup/params/nav2_params.yaml
`local_costmap.local_costmap.keepout_filter.lethal_override_cost`	`200`	number	nav2_bringup/params/nav2_params.yaml
`local_costmap.local_costmap.keepout_filter.override_lethal_cost`	`True`	bool	nav2_bringup/params/nav2_params.yaml

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Nav2 update (Jun 1): new flag global_costmap/global_costmap/keepout_filter/override_lethal_cost (ON by default) - new flag local_costmap/local_costmap/keepout_filter/override_lethal_cost (ON by default) - new global_costmap/global_costmap/keepout_filter/lethal_override_cost = 200

280/280 weighted chars

- new local_costmap/local_costmap/keepout_filter/lethal_override_cost = 200 Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/eb2235a.html Commit: https://github.com/ros-navigation/navigation2/commit/eb2235a86e3599d295060b1904e1f635f93ae9b7 Values are repo defaults from the params files.

189/280 weighted chars

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`nav2_bringup`	0	1	0	+4	−0

Watched files (1)

Show file list

	Path	Lines	Note
M	nav2_bringup/params/nav2_params.yaml	+4/−0

Commit message

Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (#5187)

* Adding toggle option of keepout zone

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Default off

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Join conditions

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* spell check

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* copilot suggestions

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update keepout_filter.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>