Costmap filter that applies a configured set of ROS parameters based on the mask value at the robot's pose. More...

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

Inheritance diagram for nav2_costmap_2d::ZoneParameterFilter:

Collaboration diagram for nav2_costmap_2d::ZoneParameterFilter:

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Classes
struct	StateParamEntry

Public Member Functions
void	initializeFilter (const std::string &filter_info_topic) override
	Initialise filter, subscribe to filter info / mask, build per-target-node async parameter clients.

void	process (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j, const geometry_msgs::msg::Pose &pose) override
	Sample the mask at the robot pose; if the state changed, apply the new state's parameter set via async client and, if configured, publish the state event.

void	resetFilter () override
	Reset filter — drop subscriptions, reset publisher, clear nominal-defaults capture.

bool	isActive ()
	Whether the filter has received its mask and is operational.

Public Member Functions inherited from nav2_costmap_2d::CostmapFilter
	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) override
	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 () final
	If clearing operations should be processed on this layer or not.

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

virtual	~Layer ()
	A destructor.

void	initialize (LayeredCostmap parent, std::string name, nav2::TransformBuffer tf, const nav2::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...

void	setCurrent (bool current)
	Set whether the data in the layer is up to date. 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().

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	filterInfoCallback (const nav2_msgs::msg::CostmapFilterInfo::ConstSharedPtr &msg)
	Subscriber callback for the filter info topic.

void	maskCallback (const nav_msgs::msg::OccupancyGrid::ConstSharedPtr &msg)
	Subscriber callback for the filter mask topic.

void	loadStateConfig ()
	Parse the per-state parameter map and nominal_defaults from YAML overrides.

void	applyState (uint8_t new_state)
	Apply the parameter set associated with the given state. State 0 restores nominal_defaults; throws on unknown state.

void	resetToNominal ()
	Restore all overridden parameters to their nominal_defaults values via async set_parameters.

void	issueAsyncSetParameters (const std::string &target_node, const std::vector< rclcpp::Parameter > &params)
	Issue an async set_parameters call to the named target node.

void	checkPendingParameterUpdates ()
	Process completed set_parameters results non-blockingly. Called at the start of every process(); a failed set on any target throws (a failed set on a safety parameter is a stop condition).

Protected Member Functions inherited from nav2_costmap_2d::CostmapFilter
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::Pose &global_pose, const std::string mask_frame, geometry_msgs::msg::Pose &mask_pose) const
	: Transforms robot pose from current layer frame to mask frame 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
nav2::Subscription< nav2_msgs::msg::CostmapFilterInfo >::SharedPtr	filter_info_sub_

nav2::Subscription< nav_msgs::msg::OccupancyGrid >::SharedPtr	mask_sub_

nav2::Publisher< std_msgs::msg::UInt8 >::SharedPtr	state_event_pub_

nav_msgs::msg::OccupancyGrid::ConstSharedPtr	filter_mask_

std::string	global_frame_

uint8_t	current_state_ {0}

bool	state_initialized_ {false}

std::map< uint8_t, std::vector< StateParamEntry > >	state_param_map_

std::map< std::string, std::vector< rclcpp::Parameter > >	nominal_defaults_

std::map< std::string, rclcpp::AsyncParametersClient::SharedPtr >	param_clients_

std::vector< std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > > >	pending_futures_

std::string	state_event_topic_

bool	filter_info_received_ {false}

Protected Attributes inherited from nav2_costmap_2d::CostmapFilter
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::ServiceServer< std_srvs::srv::SetBool >::SharedPtr	enable_service_
	: A service to enable/disable costmap filter

Protected Attributes inherited from nav2_costmap_2d::Layer
LayeredCostmap *	layered_costmap_

std::string	name_

nav2::TransformBuffer *	tf_

rclcpp::CallbackGroup::SharedPtr	callback_group_

nav2::LifecycleNode::WeakPtr	node_

rclcpp::Clock::SharedPtr	clock_

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

std::atomic_bool	current_

bool	enabled_

Additional Inherited Members
Public Types inherited from nav2_costmap_2d::CostmapFilter
typedef std::recursive_mutex	mutex_t
	: Provide a typedef to ease future code maintenance

Detailed Description

Costmap filter that applies a configured set of ROS parameters based on the mask value at the robot's pose.

The filter mask uses occupancy-grid values. State 0 is the reset state; each non-zero state ID maps via configuration to a list of parameter overrides on configured target nodes.

Definition at line 43 of file zone_parameter_filter.hpp.

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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description