Reads nav2_msgs::msg::Costmap and produces obstacle points for Collision Monitor. More...

#include <nav2_collision_monitor/include/nav2_collision_monitor/costmap.hpp>

Inheritance diagram for nav2_collision_monitor::CostmapSource:

Collaboration diagram for nav2_collision_monitor::CostmapSource:

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Public Member Functions
	CostmapSource (const nav2::LifecycleNode::WeakPtr &node, const std::string &source_name, const nav2::TransformBuffer::SharedPtr tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Construct a CostmapSource. More...

	~CostmapSource ()
	Destructor.

bool	configure ()
	Declare and get parameters; create the subscription. More...

bool	getSourceData (const rclcpp::Time &curr_time, std::vector< Point > &data) override
	Produce current obstacle points from the latest costmap. More...

void	getParameters (std::string &source_topic)
	Read parameters specific to the costmap source. More...

bool	hasData () const
	Check if costmap data has been received. More...

Public Member Functions inherited from nav2_collision_monitor::Source
	Source (const nav2::LifecycleNode::WeakPtr &node, const std::string &source_name, const nav2::TransformBuffer::SharedPtr tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Source constructor. More...

virtual	~Source ()
	Source destructor.

bool	getData (const rclcpp::Time &curr_time, std::vector< Point > &data)
	Adds latest data from source to the data array, then removes any points falling inside an enabled exclusion zone. More...

void	activate ()
	Activates the exclusion zone visualization publishers (if any)

void	deactivate ()
	Deactivates the exclusion zone visualization publishers (if any)

void	publishExclusionZones () const
	Publishes the source's exclusion zones for visualization.

bool	getEnabled () const
	Obtains source enabled state. More...

std::string	getSourceName () const
	Obtains the name of the data source. More...

rclcpp::Duration	getSourceTimeout () const
	Obtains the source_timeout parameter of the data source. More...

Additional Inherited Members
Protected Member Functions inherited from nav2_collision_monitor::Source
bool	configure ()
	Source configuration routine. More...

void	getCommonParameters (std::string &source_topic)
	Supporting routine obtaining ROS-parameters common for all data sources. More...

bool	sourceValid (const rclcpp::Time &source_time, const rclcpp::Time &curr_time) const
	Checks whether the source data might be considered as valid. More...

void	addExclusionZoneCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::AddExclusionZone::Request > request, std::shared_ptr< nav2_msgs::srv::AddExclusionZone::Response > response)
	Service callback to add an exclusion zone at runtime.

void	removeExclusionZoneCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::RemoveExclusionZone::Request > request, std::shared_ptr< nav2_msgs::srv::RemoveExclusionZone::Response > response)
	Service callback to remove an exclusion zone at runtime.

rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

bool	getTransform (const rclcpp::Time &curr_time, const std_msgs::msg::Header &data_header, tf2::Transform &tf_transform) const
	Obtain the transform to get data from source frame and time where it was received to the base frame and current time (if base_shift_correction_ is true) or the transform without time shift considered which is less accurate but much more faster option not dependent on state estimation frames. More...

Protected Attributes inherited from nav2_collision_monitor::Source
nav2::LifecycleNode::WeakPtr	node_
	Collision Monitor node.

rclcpp::Logger	logger_ {rclcpp::get_logger("collision_monitor")}
	Collision monitor node logger stored for further usage.

std::mutex	mutex_
	Dynamic parameters handler.

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

std::string	source_name_
	Name of data source.

nav2::TransformBuffer::SharedPtr	tf_buffer_
	TF buffer.

std::string	base_frame_id_
	Robot base frame ID.

std::string	global_frame_id_
	Global frame ID for correct transform calculation.

tf2::Duration	transform_tolerance_
	Transform tolerance.

rclcpp::Duration	source_timeout_
	Maximum time interval in which data is considered valid.

bool	base_shift_correction_
	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time.

bool	enabled_
	Whether source is enabled.

std::vector< std::shared_ptr< ExclusionZone > >	exclusion_zones_
	Exclusion zones masking out points from this source.

nav2::ServiceServer< nav2_msgs::srv::AddExclusionZone >::SharedPtr	add_ez_service_
	Service to add an exclusion zone at runtime.

nav2::ServiceServer< nav2_msgs::srv::RemoveExclusionZone >::SharedPtr	remove_ez_service_
	Service to remove an exclusion zone at runtime.

Detailed Description

Reads nav2_msgs::msg::Costmap and produces obstacle points for Collision Monitor.

Cells with cost >= cost_threshold_ are exported as points. Optionally, NO_INFORMATION (255) can be treated as obstacles via treat_unknown_as_obstacle_.

Parameters (declared/queried in getParameters):

topic (std::string): costmap topic name (relative is recommended).
cost_threshold (int, 0..255): minimum cost to consider a cell occupied.
treat_unknown_as_obstacle (bool): whether cost 255 should be treated as occupied.

Definition at line 49 of file costmap.hpp.

Constructor & Destructor Documentation

◆ CostmapSource()

nav2_collision_monitor::CostmapSource::CostmapSource	(	const nav2::LifecycleNode::WeakPtr &	node,
		const std::string &	source_name,
		const nav2::TransformBuffer::SharedPtr	tf_buffer,
		const std::string &	base_frame_id,
		const std::string &	global_frame_id,
		const tf2::Duration &	transform_tolerance,
		const rclcpp::Duration &	source_timeout,
		const bool	base_shift_correction
	)

Construct a CostmapSource.

Parameters

node	Weak pointer to the lifecycle node.
source_name	Logical name of this source instance (for params/logs).
tf_buffer	Shared TF buffer for frame transforms.
base_frame_id	Robot base frame (e.g., "base_footprint").
global_frame_id	Global frame of the costmap (e.g., "odom" or "map").
transform_tolerance	Allowed TF age for transforms.
source_timeout	Max age of data before it is considered stale.
base_shift_correction	Whether to compensate robot motion during simulation checks.

Definition at line 30 of file costmap.cpp.

References nav2_collision_monitor::Source::logger_, and nav2_collision_monitor::Source::source_name_.

Member Function Documentation

◆ configure()

bool nav2_collision_monitor::CostmapSource::configure ( )

Declare and get parameters; create the subscription.

Must be called during the node’s configuration phase (after construction, before use). Reads topic, cost_threshold, and treat_unknown_as_obstacle.