: CostmapFilter basic class. It is inherited from Layer in order to avoid hidden problems when the shared handling of costmap_ resource (PR #1936) More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp>

Inheritance diagram for nav2_costmap_2d::CostmapFilter:

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Collaboration diagram for nav2_costmap_2d::CostmapFilter:

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Public Types
typedef std::recursive_mutex	mutex_t
	: Provide a typedef to ease future code maintenance

Public Member Functions
	CostmapFilter ()
	A constructor.

	~CostmapFilter ()
	A destructor.

mutex_t *	getMutex ()
	: returns pointer to a mutex

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

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

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

void	activate () final
	Activate the layer.

void	deactivate () final
	Deactivate the layer.

void	reset () final
	Reset the layer.

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

virtual void	initializeFilter (const std::string &filter_info_topic)=0
	: Initializes costmap filter. Creates subscriptions to filter-related topics More...

virtual void	process (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j, const geometry_msgs::msg::Pose2D &pose)=0
	: An algorithm for how to use that map's information. Fills the Costmap2D with calculated data and makes an action based on processed data More...

virtual void	resetFilter ()=0
	: Resets costmap filter. Stops all subscriptions

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	matchSize ()
	Implement this to make this layer match the size of the parent costmap.

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.

std::string	joinWithParentNamespace (const std::string &topic)

Protected Member Functions
void	enableCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< std_srvs::srv::SetBool::Request > request, std::shared_ptr< std_srvs::srv::SetBool::Response > response)
	Costmap filter enabling/disabling callback. More...

bool	transformPose (const std::string global_frame, const geometry_msgs::msg::Pose2D &global_pose, const std::string mask_frame, geometry_msgs::msg::Pose2D &mask_pose) const
	: Transforms robot pose from current layer frame to mask frame More...

bool	worldToMask (nav_msgs::msg::OccupancyGrid::ConstSharedPtr filter_mask, double wx, double wy, unsigned int &mx, unsigned int &my) const
	: Convert from world coordinates to mask coordinates. Similar to Costmap2D::worldToMap() method but works directly with OccupancyGrid-s. More...

int8_t	getMaskData (nav_msgs::msg::OccupancyGrid::ConstSharedPtr filter_mask, const unsigned int mx, const unsigned int my) const
	Get the data of a cell in the filter mask. More...

unsigned char	getMaskCost (nav_msgs::msg::OccupancyGrid::ConstSharedPtr filter_mask, const unsigned int mx, const unsigned int &my) const
	Get the cost of a cell in the filter mask. More...

Protected Attributes
std::string	filter_info_topic_
	: Name of costmap filter info topic

std::string	mask_topic_
	: Name of filter mask topic

tf2::Duration	transform_tolerance_
	: mask_frame->global_frame_ transform tolerance

nav2_util::ServiceServer< std_srvs::srv::SetBool, std::shared_ptr< rclcpp_lifecycle::LifecycleNode > >::SharedPtr	enable_service_
	: A service to enable/disable costmap filter

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_

Detailed Description

: CostmapFilter basic class. It is inherited from Layer in order to avoid hidden problems when the shared handling of costmap_ resource (PR #1936)

Definition at line 61 of file costmap_filter.hpp.

Member Function Documentation

◆ enableCallback()

void nav2_costmap_2d::CostmapFilter::enableCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< std_srvs::srv::SetBool::Request >	request,
		std::shared_ptr< std_srvs::srv::SetBool::Response >	response
	)

protected

Costmap filter enabling/disabling callback.

Parameters

request_header	Service request header
request	Service request
response	Service response

Definition at line 140 of file costmap_filter.cpp.

Referenced by onInitialize().

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◆ getMaskCost()

unsigned char nav2_costmap_2d::CostmapFilter::getMaskCost	(	nav_msgs::msg::OccupancyGrid::ConstSharedPtr	filter_mask,
		const unsigned int	mx,
		const unsigned int &	my
	)		const

protected

Get the cost of a cell in the filter mask.

Parameters

filter_mask	Filter mask to get the cost from
mx	The x coordinate of the cell
my	The y coordinate of the cell

Returns: The cost to set the cell to

Definition at line 216 of file costmap_filter.cpp.

Referenced by nav2_costmap_2d::KeepoutFilter::process().

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◆ getMaskData()

int8_t nav2_costmap_2d::CostmapFilter::getMaskData	(	nav_msgs::msg::OccupancyGrid::ConstSharedPtr	filter_mask,
		const unsigned int	mx,
		const unsigned int	my
	)		const

inlineprotected

Get the data of a cell in the filter mask.

Parameters

filter_mask	Filter mask to get the data from
mx	The x coordinate of the cell
my	The y coordinate of the cell

Returns: The data of the selected cell

Definition at line 209 of file costmap_filter.hpp.

Referenced by nav2_costmap_2d::BinaryFilter::process(), and nav2_costmap_2d::SpeedFilter::process().

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◆ initializeFilter()

virtual void nav2_costmap_2d::CostmapFilter::initializeFilter ( const std::string & filter_info_topic )

pure virtual

: Initializes costmap filter. Creates subscriptions to filter-related topics

CostmapFilter API

Parameters

Name of costmap filter info topic

Implemented in nav2_costmap_2d::SpeedFilter, nav2_costmap_2d::KeepoutFilter, and nav2_costmap_2d::BinaryFilter.

Referenced by activate(), and reset().

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◆ process()

virtual void nav2_costmap_2d::CostmapFilter::process	(	nav2_costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j,
		const geometry_msgs::msg::Pose2D &	pose
	)

pure virtual

: An algorithm for how to use that map's information. Fills the Costmap2D with calculated data and makes an action based on processed data

Parameters

	Reference to a master costmap2d
	Low window map boundary OX
	Low window map boundary OY
	High window map boundary OX
	High window map boundary OY
	Robot 2D-pose

Implemented in nav2_costmap_2d::SpeedFilter, nav2_costmap_2d::KeepoutFilter, and nav2_costmap_2d::BinaryFilter.

Referenced by updateCosts().

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◆ transformPose()

bool nav2_costmap_2d::CostmapFilter::transformPose	(	const std::string	global_frame,
		const geometry_msgs::msg::Pose2D &	global_pose,
		const std::string	mask_frame,
		geometry_msgs::msg::Pose2D &	mask_pose
	)		const

protected

: Transforms robot pose from current layer frame to mask frame

Parameters

	global_frame Costmap frame to transform from
	global_pose Robot pose in costmap frame
	mask_frame Filter mask frame to transform to
	mask_pose Output robot pose in mask frame

Returns: : True if the transformation was successful, false otherwise

Definition at line 154 of file costmap_filter.cpp.

References transform_tolerance_.

Referenced by nav2_costmap_2d::BinaryFilter::process(), nav2_costmap_2d::KeepoutFilter::process(), and nav2_costmap_2d::SpeedFilter::process().

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◆ updateBounds()

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

finalvirtual

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 115 of file costmap_filter.cpp.

◆ updateCosts()

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

finalvirtual

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 128 of file costmap_filter.cpp.

References process().

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◆ worldToMask()

bool nav2_costmap_2d::CostmapFilter::worldToMask	(	nav_msgs::msg::OccupancyGrid::ConstSharedPtr	filter_mask,
		double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)		const

protected

: Convert from world coordinates to mask coordinates. Similar to Costmap2D::worldToMap() method but works directly with OccupancyGrid-s.

Parameters

filter_mask	Filter mask on which to convert
wx	The x world coordinate
wy	The y world coordinate
mx	Will be set to the associated mask x coordinate
my	Will be set to the associated mask y coordinate

Returns: True if the conversion was successful (legal bounds) false otherwise

Definition at line 193 of file costmap_filter.cpp.

Referenced by nav2_costmap_2d::BinaryFilter::process(), nav2_costmap_2d::KeepoutFilter::process(), and nav2_costmap_2d::SpeedFilter::process().

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

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp
nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ enableCallback()

◆ getMaskCost()

◆ getMaskData()

◆ initializeFilter()

◆ process()

◆ transformPose()

◆ updateBounds()

◆ updateCosts()

◆ worldToMask()