Takes in a map generated from SLAM to add costs to costmap. More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp>

Inheritance diagram for nav2_costmap_2d::StaticLayer:

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Collaboration diagram for nav2_costmap_2d::StaticLayer:

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Public Member Functions
	StaticLayer ()
	Static Layer constructor.

virtual	~StaticLayer ()
	Static Layer destructor.

virtual void	onInitialize ()
	Initialization process of layer on startup.

virtual void	activate ()
	Activate this layer.

virtual void	deactivate ()
	Deactivate this layer.

virtual void	reset ()
	Reset this costmap.

virtual bool	isClearable ()
	If clearing operations should be processed on this layer or not.

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
	Update the bounds of the master costmap by this layer's update dimensions. More...

virtual void	updateCosts (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Update the costs in the master costmap in the window. More...

virtual void	matchSize ()
	Match the size of the master costmap.

Public Member Functions inherited from nav2_costmap_2d::CostmapLayer
	CostmapLayer ()
	CostmapLayer constructor.

bool	isDiscretized ()
	If layer is discrete.

virtual void	clearArea (int start_x, int start_y, int end_x, int end_y, bool invert)
	Clear an are in the costmap with the given dimension if invert, then clear everything except these dimensions.

void	addExtraBounds (double mx0, double my0, double mx1, double my1)

Public Member Functions inherited from nav2_costmap_2d::Layer
	Layer ()
	A constructor.

virtual	~Layer ()
	A destructor.

void	initialize (LayeredCostmap parent, std::string name, tf2_ros::Buffer tf, const nav2_util::LifecycleNode::WeakPtr &node, rclcpp::CallbackGroup::SharedPtr callback_group)
	Initialization process of layer on startup.

virtual void	onFootprintChanged ()
	LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.

std::string	getName () const
	Get the name of the costmap layer.

bool	isCurrent () const
	Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know. More...

bool	isEnabled () const
	Gets whether the layer is enabled.

const std::vector< geometry_msgs::msg::Point > &	getFootprint () const
	Convenience function for layered_costmap_->getFootprint().

void	declareParameter (const std::string &param_name, const rclcpp::ParameterValue &value)
	Convenience functions for declaring ROS parameters.

void	declareParameter (const std::string &param_name, const rclcpp::ParameterType &param_type)
	Convenience functions for declaring ROS parameters.

bool	hasParameter (const std::string &param_name)
	Convenience functions for declaring ROS parameters.

std::string	getFullName (const std::string &param_name)
	Convenience functions for declaring ROS parameters.

Public Member Functions inherited from nav2_costmap_2d::Costmap2D
	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)
	Constructor for a costmap. More...

	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently. More...

	Costmap2D (const nav_msgs::msg::OccupancyGrid &map)
	Constructor for a costmap from an OccupancyGrid map. More...

Costmap2D &	operator= (const Costmap2D &map)
	Overloaded assignment operator. More...

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)
	Turn this costmap into a copy of a window of a costmap passed in. More...

bool	copyWindow (const Costmap2D &source, unsigned int sx0, unsigned int sy0, unsigned int sxn, unsigned int syn, unsigned int dx0, unsigned int dy0)
	Copies the (x0,y0)..(xn,yn) window from source costmap into a current costmap. More...

	Costmap2D ()
	Default constructor.

virtual	~Costmap2D ()
	Destructor.

unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap. More...

unsigned char	getCost (unsigned int index) const
	Get the cost of a cell in the costmap. More...

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)
	Set the cost of a cell in the costmap. More...

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
	Convert from map coordinates to world coordinates. More...

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates. More...

bool	worldToMapContinuous (double wx, double wy, float &mx, float &my) const
	Convert from world coordinates to map coordinates. More...

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates without checking for legal bounds. More...

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates, constraining results to legal bounds. More...

unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index. More...

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated map coordinates. More...

unsigned char *	getCharMap () const
	Will return a pointer to the underlying unsigned char array used as the costmap. More...

unsigned int	getSizeInCellsX () const
	Accessor for the x size of the costmap in cells. More...

unsigned int	getSizeInCellsY () const
	Accessor for the y size of the costmap in cells. More...

double	getSizeInMetersX () const
	Accessor for the x size of the costmap in meters. More...

double	getSizeInMetersY () const
	Accessor for the y size of the costmap in meters. More...

double	getOriginX () const
	Accessor for the x origin of the costmap. More...

double	getOriginY () const
	Accessor for the y origin of the costmap. More...

double	getResolution () const
	Accessor for the resolution of the costmap. More...

void	setDefaultValue (unsigned char c)
	Set the default background value of the costmap. More...

unsigned char	getDefaultValue ()
	Get the default background value of the costmap. More...

bool	setConvexPolygonCost (const std::vector< geometry_msgs::msg::Point > &polygon, unsigned char cost_value)
	Sets the cost of a convex polygon to a desired value. More...

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that make up the outline of a polygon. More...

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon. More...

virtual void	updateOrigin (double new_origin_x, double new_origin_y)
	Move the origin of the costmap to a new location.... keeping data when it can. More...

bool	saveMap (std::string file_name)
	Save the costmap out to a pgm file. More...

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)
	Resize the costmap.

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)
	Reset the costmap in bounds.

void	resetMapToValue (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn, unsigned char value)
	Reset the costmap in bounds to a value.

unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells. More...

mutex_t *	getMutex ()

Protected Member Functions
void	getParameters ()
	Get parameters of layer.

void	processMap (const nav_msgs::msg::OccupancyGrid &new_map)
	Process a new map coming from a topic.

void	incomingMap (const nav_msgs::msg::OccupancyGrid::SharedPtr new_map)
	Callback to update the costmap's map from the map_server. More...

void	incomingUpdate (map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update)
	Callback to update the costmap's map from the map_server (or SLAM) with an update in a particular area of the map.

unsigned char	interpretValue (unsigned char value)
	Interpret the value in the static map given on the topic to convert into costs for the costmap to utilize.

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

void	updateFootprint (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
	Clear costmap layer info below the robot's footprint.

Protected Member Functions inherited from nav2_costmap_2d::CostmapLayer
void	updateWithTrueOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithMax (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithMaxWithoutUnknownOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithAddition (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	touch (double x, double y, double min_x, double min_y, double max_x, double max_y)

void	useExtraBounds (double min_x, double min_y, double max_x, double max_y)

CombinationMethod	combination_method_from_int (const int value)
	Converts an integer to a CombinationMethod enum and logs on failure. More...

Protected Member Functions inherited from nav2_costmap_2d::Costmap2D
template<typename data_type >
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)
	Copy a region of a source map into a destination map. More...

virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures.

virtual void	resetMaps ()
	Resets the costmap and static_map to be unknown space.

virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures. More...

template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX, unsigned int min_length=0)
	Raytrace a line and apply some action at each step. More...

Protected Attributes
std::vector< geometry_msgs::msg::Point >	transformed_footprint_

bool	footprint_clearing_enabled_

std::string	global_frame_
	The global frame for the costmap.

std::string	map_frame_

bool	has_updated_data_ {false}
	frame that map is located in

unsigned int	x_ {0}

unsigned int	y_ {0}

unsigned int	width_ {0}

unsigned int	height_ {0}

rclcpp::Subscription< nav_msgs::msg::OccupancyGrid >::SharedPtr	map_sub_

rclcpp::Subscription< map_msgs::msg::OccupancyGridUpdate >::SharedPtr	map_update_sub_

std::string	map_topic_

bool	map_subscribe_transient_local_

bool	subscribe_to_updates_

bool	track_unknown_space_

bool	use_maximum_

unsigned char	lethal_threshold_

unsigned char	unknown_cost_value_

bool	trinary_costmap_

bool	map_received_ {false}

bool	map_received_in_update_bounds_ {false}

tf2::Duration	transform_tolerance_

nav_msgs::msg::OccupancyGrid::SharedPtr	map_buffer_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

Protected Attributes inherited from nav2_costmap_2d::CostmapLayer
bool	has_extra_bounds_

Protected Attributes inherited from nav2_costmap_2d::Layer
LayeredCostmap *	layered_costmap_

std::string	name_

tf2_ros::Buffer *	tf_

rclcpp::CallbackGroup::SharedPtr	callback_group_

rclcpp_lifecycle::LifecycleNode::WeakPtr	node_

rclcpp::Clock::SharedPtr	clock_

rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_costmap_2d")}

bool	current_

bool	enabled_

std::unordered_set< std::string >	local_params_

Protected Attributes inherited from nav2_costmap_2d::Costmap2D
unsigned int	size_x_

unsigned int	size_y_

double	resolution_

double	origin_x_

double	origin_y_

unsigned char *	costmap_

unsigned char	default_value_

Additional Inherited Members
Public Types inherited from nav2_costmap_2d::Costmap2D
typedef std::recursive_mutex	mutex_t

Detailed Description

Takes in a map generated from SLAM to add costs to costmap.

Definition at line 60 of file static_layer.hpp.

Member Function Documentation

◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_costmap_2d::StaticLayer::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 475 of file static_layer.cpp.

References has_updated_data_.

Referenced by getParameters().

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◆ incomingMap()

void nav2_costmap_2d::StaticLayer::incomingMap ( const nav_msgs::msg::OccupancyGrid::SharedPtr new_map )

protected

Callback to update the costmap's map from the map_server.

Parameters

new_map The map to put into the costmap. The origin of the new map along with its size will determine what parts of the costmap's static map are overwritten.

Definition at line 285 of file static_layer.cpp.

References processMap().

Referenced by onInitialize().

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◆ updateBounds()

void nav2_costmap_2d::StaticLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

virtual

Update the bounds of the master costmap by this layer's update dimensions.

Parameters

robot_x	X pose of robot
robot_y	Y pose of robot
robot_yaw	Robot orientation
min_x	X min map coord of the window to update
min_y	Y min map coord of the window to update
max_x	X max map coord of the window to update
max_y	Y max map coord of the window to update

Implements nav2_costmap_2d::Layer.

Definition at line 342 of file static_layer.cpp.

References has_updated_data_, nav2_costmap_2d::LayeredCostmap::isRolling(), nav2_costmap_2d::Costmap2D::mapToWorld(), processMap(), and updateFootprint().

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◆ updateCosts()

void nav2_costmap_2d::StaticLayer::updateCosts	(	nav2_costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Update the costs in the master costmap in the window.

Parameters

master_grid	The master costmap grid to update
min_x	X min map coord of the window to update
min_y	Y min map coord of the window to update
max_x	X max map coord of the window to update
max_y	Y max map coord of the window to update

Implements nav2_costmap_2d::Layer.

Definition at line 402 of file static_layer.cpp.

References nav2_costmap_2d::Costmap2D::getCost(), nav2_costmap_2d::LayeredCostmap::getCostmap(), global_frame_, nav2_costmap_2d::LayeredCostmap::isRolling(), nav2_costmap_2d::Costmap2D::mapToWorld(), nav2_costmap_2d::Costmap2D::setConvexPolygonCost(), nav2_costmap_2d::Costmap2D::setCost(), and nav2_costmap_2d::Costmap2D::worldToMap().

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The documentation for this class was generated from the following files:

nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp
nav2_costmap_2d/plugins/static_layer.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ dynamicParametersCallback()

◆ incomingMap()

◆ updateBounds()

◆ updateCosts()