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:
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 ¶m_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 > ¶ms) |
| 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
