Classes
class	ClearCostmapService
	Exposes services to clear costmap objects in inclusive/exclusive regions or completely. More...

struct	MapLocation

class	Costmap2D
	A 2D costmap provides a mapping between points in the world and their associated "costs". More...

class	Costmap2DPublisher
	A tool to periodically publish visualization data from a Costmap2D. More...

class	Costmap2DROS
	A ROS wrapper for a 2D Costmap. Handles subscribing to topics that provide observations about obstacles in either the form of PointCloud or LaserScan messages. More...

class	BinaryFilter
	Reads in a speed restriction mask and enables a robot to dynamically adjust speed based on pose in map to slow in dangerous areas. Done via absolute speed setting or percentage of maximum speed. More...

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

class	KeepoutFilter
	Reads in a keepout mask and marks keepout regions in the map to prevent planning or control in restricted areas. More...

class	SpeedFilter
	Reads in a speed restriction mask and enables a robot to dynamically adjust speed based on pose in map to slow in dangerous areas. Done via absolute speed setting or percentage of maximum speed. More...

class	CostmapLayer
	A costmap layer base class for costmap plugin layers. Rather than just a layer, this object also contains an internal costmap object to populate and maintain state. More...

class	CostmapSubscriber
	Subscribes to the costmap via a ros topic. More...

class	CostmapTopicCollisionChecker
	Using a costmap via a ros topic, this object is used to find if robot poses are in collision with the costmap environment. More...

class	Image
	Image with pixels of type T Сan own data, be a wrapper over some memory buffer, or refer to a fragment of another image Pixels of one row are stored continuity. But rows continuity is not guaranteed. The distance (number of elements of type T) from row(i) to row(i + 1) is equal to step() More...

class	MemoryBuffer
	A memory buffer that can grow to an upper-bounded capacity. More...

class	DenoiseLayer
	Layer filters noise-induced standalone obstacles (white costmap pixels) or small obstacles groups. More...

class	CollisionCheckerException
	Exceptions thrown if collision checker determines a pose is in collision with the environment costmap. More...

class	IllegalPoseException
	Thrown when CollisionChecker encounters a fatal error. More...

class	FootprintCollisionChecker
	Checker for collision with a footprint on a costmap. More...

class	FootprintSubscriber
	Subscriber to the footprint topic to get current robot footprint (if changing) for use in collision avoidance. More...

class	CellData
	Storage for cell information used during obstacle inflation. More...

class	InflationLayer
	Layer to convolve costmap by robot's radius or footprint to prevent collisions and largely simply collision checking. More...

class	Layer
	Abstract class for layered costmap plugin implementations. More...

class	LayeredCostmap
	Instantiates different layer plugins and aggregates them into one score. More...

class	Observation
	Stores an observation in terms of a point cloud and the origin of the source. More...

class	ObservationBuffer
	Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...

class	ObstacleLayer
	Takes in laser and pointcloud data to populate into 2D costmap. More...

class	PluginContainerLayer
	Holds a list of plugins and applies them only to the specific layer. More...

class	RangeSensorLayer
	Takes in IR/Sonar/similar point measurement sensors and populates in costmap. More...

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

class	VoxelLayer
	Takes laser and pointcloud data to populate a 3D voxel representation of the environment. More...

Typedefs
typedef std::vector< geometry_msgs::msg::Point >	Footprint

using	ClearExceptRegion = nav2_msgs::srv::ClearCostmapExceptRegion

using	ClearAroundRobot = nav2_msgs::srv::ClearCostmapAroundRobot

using	ClearAroundPose = nav2_msgs::srv::ClearCostmapAroundPose

using	ClearEntirely = nav2_msgs::srv::ClearEntireCostmap

Enumerations
enum class	CombinationMethod : int { Overwrite = 0 , Max = 1 , MaxWithoutUnknownOverwrite = 2 }

enum class	ConnectivityType : int { Way4 = 4 , Way8 = 8 }

Functions
rclcpp::NodeOptions	getChildNodeOptions (const std::string &name, const std::string &parent_namespace, const bool &use_sim_time, const rclcpp::NodeOptions &parent_options)
	Given the node options of a parent node, expands of replaces the fields for the node name, namespace and use_sim_time.

template<class Max >
void	dilate (const Image< uint8_t > &input, Image< uint8_t > &output, ConnectivityType connectivity, Max &&max_function)
	Perform morphological dilation. More...

template<ConnectivityType connectivity, class Label , class IsBg >
std::pair< Image< Label >, Label >	connectedComponents (const Image< uint8_t > &image, MemoryBuffer &buffer, imgproc_impl::EquivalenceLabelTrees< Label > &label_trees, IsBg &&is_background)
	Compute the connected components labeled image of binary image Implements the SAUF algorithm (Two Strategies to Speed up Connected Component Labeling Algorithms Kesheng Wu, Ekow Otoo, Kenji Suzuki). More...

template<ConnectivityType connectivity, class Label , class IsBg >
Image< Label >	connectedComponents (const Image< uint8_t > &image, MemoryBuffer &buffer, imgproc_impl::EquivalenceLabelTrees< Label > &label_trees, const IsBg &is_background, Label &total_labels)

std::pair< double, double >	calculateMinAndMaxDistances (const std::vector< geometry_msgs::msg::Point > &footprint)
	Calculate the extreme distances for the footprint. More...

geometry_msgs::msg::Point	toPoint (const geometry_msgs::msg::Point32 &pt)
	Convert Point32 to Point.

geometry_msgs::msg::Point32	toPoint32 (const geometry_msgs::msg::Point &pt)
	Convert Point to Point32.

geometry_msgs::msg::Polygon	toPolygon (const std::vector< geometry_msgs::msg::Point > &pts)
	Convert vector of Points to Polygon msg.

std::vector< geometry_msgs::msg::Point >	toPointVector (const geometry_msgs::msg::Polygon &polygon)
	Convert Polygon msg to vector of Points.

void	transformFootprint (double x, double y, double theta, const std::vector< geometry_msgs::msg::Point > &footprint_spec, std::vector< geometry_msgs::msg::Point > &oriented_footprint)
	Given a pose and base footprint, build the oriented footprint of the robot (list of Points) More...

void	transformFootprint (double x, double y, double theta, const std::vector< geometry_msgs::msg::Point > &footprint_spec, geometry_msgs::msg::PolygonStamped &oriented_footprint)
	Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped) More...

void	padFootprint (std::vector< geometry_msgs::msg::Point > &footprint, double padding)
	Adds the specified amount of padding to the footprint (in place)

std::vector< geometry_msgs::msg::Point >	makeFootprintFromRadius (double radius)
	Create a circular footprint from a given radius.

bool	makeFootprintFromString (const std::string &footprint_string, std::vector< geometry_msgs::msg::Point > &footprint)
	Make the footprint from the given string. More...

Detailed Description

Provides a mapping for often used cost values

Provides constants used in costmap filters

Enumeration Type Documentation

◆ CombinationMethod

enum nav2_costmap_2d::CombinationMethod : int

strong

Enumerator
Overwrite	Overwrite means every valid value from this layer is written into the master grid (does not copy NO_INFORMATION)
Max	Sets the new value to the maximum of the master_grid's value and this layer's value. If the master value is NO_INFORMATION, it is overwritten. If the layer's value is NO_INFORMATION, the master value does not change
MaxWithoutUnknownOverwrite	Sets the new value to the maximum of the master_grid's value and this layer's value. If the master value is NO_INFORMATION, it is NOT overwritten. If the layer's value is NO_INFORMATION, the master value does not change.

Definition at line 47 of file cost_values.hpp.

◆ ConnectivityType

enum nav2_costmap_2d::ConnectivityType : int

strong

Enumerator
Way4	neighbors pixels are connected horizontally and vertically
Way8	neighbors pixels are connected horizontally, vertically and diagonally

Definition at line 35 of file image_processing.hpp.

Function Documentation

◆ calculateMinAndMaxDistances()

std::pair< double, double > nav2_costmap_2d::calculateMinAndMaxDistances ( const std::vector< geometry_msgs::msg::Point > & footprint )

Calculate the extreme distances for the footprint.

Parameters

footprint	The footprint to examine
min_dist	Output parameter of the minimum distance
max_dist	Output parameter of the maximum distance

Definition at line 43 of file footprint.cpp.

Referenced by nav2_costmap_2d::LayeredCostmap::setFootprint().

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◆ connectedComponents()

template<ConnectivityType connectivity, class Label , class IsBg >

std::pair<Image<Label>, Label> nav2_costmap_2d::connectedComponents	(	const Image< uint8_t > &	image,
		MemoryBuffer &	buffer,
		imgproc_impl::EquivalenceLabelTrees< Label > &	label_trees,
		IsBg &&	is_background
	)

Compute the connected components labeled image of binary image Implements the SAUF algorithm (Two Strategies to Speed up Connected Component Labeling Algorithms Kesheng Wu, Ekow Otoo, Kenji Suzuki).

Template Parameters

connectivity	pixels connectivity type
Label	integer type of label
IsBg	functor with signature bool (uint8_t)

Parameters

image	input image
buffer	memory block that will be used to store the result (labeled image) and the internal buffer for labels trees
label_trees	union-find data structure
is_background	returns true if the passed pixel value is background

Exceptions

LabelOverflow if all possible values of the Label type are used and it is impossible to create a new unique

Returns: pair(labeled image, total number of labels) Labeled image has the same size as image. Label 0 represents the background label, labels [1, <return value> - 1] - separate components. Total number of labels == 0 for empty image. In other cases, label 0 is always counted, even if there is no background in the image. For example, for an image of one background pixel, the total number of labels == 2. Two labels (0, 1) have been counted, although label 0 is not used)

◆ dilate()

template<class Max >

void nav2_costmap_2d::dilate	(	const Image< uint8_t > &	input,
		Image< uint8_t > &	output,
		ConnectivityType	connectivity,
		Max &&	max_function
	)

inline

Perform morphological dilation.

Template Parameters

Max	function object

Parameters

input	input image
output	output image
connectivity	selector for selecting structuring element (Way4-> cross, Way8-> rect)
max_function	takes as input std::initializer_list<uint8_t> with three elements. Returns the greatest value in list

Definition at line 96 of file image_processing.hpp.

◆ makeFootprintFromString()

bool nav2_costmap_2d::makeFootprintFromString	(	const std::string &	footprint_string,
		std::vector< geometry_msgs::msg::Point > &	footprint
	)

Make the footprint from the given string.

Format should be bracketed array of arrays of floats, like so: [[1.0, 2.2], [3.3, 4.2], ...]

Definition at line 177 of file footprint.cpp.

Referenced by nav2_costmap_2d::CostmapTopicCollisionChecker::CostmapTopicCollisionChecker(), nav2_costmap_2d::Costmap2DROS::dynamicParametersCallback(), nav2_costmap_2d::Costmap2DROS::getParameters(), and nav2_costmap_2d::Costmap2DROS::on_configure().

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◆ transformFootprint() [1/2]

void nav2_costmap_2d::transformFootprint	(	double	x,
		double	y,
		double	theta,
		const std::vector< geometry_msgs::msg::Point > &	footprint_spec,
		geometry_msgs::msg::PolygonStamped &	oriented_footprint
	)

Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped)

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
footprint_spec	Basic shape of the footprint
oriented_footprint	Will be filled with the points in the oriented footprint of the robot

Definition at line 130 of file footprint.cpp.

◆ transformFootprint() [2/2]

void nav2_costmap_2d::transformFootprint	(	double	x,
		double	y,
		double	theta,
		const std::vector< geometry_msgs::msg::Point > &	footprint_spec,
		std::vector< geometry_msgs::msg::Point > &	oriented_footprint
	)

Given a pose and base footprint, build the oriented footprint of the robot (list of Points)

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
footprint_spec	Basic shape of the footprint
oriented_footprint	Will be filled with the points in the oriented footprint of the robot

Definition at line 112 of file footprint.cpp.

Referenced by nav2_costmap_2d::CostmapTopicCollisionChecker::getFootprint(), nav2_costmap_2d::FootprintSubscriber::getFootprintInRobotFrame(), nav2_costmap_2d::Costmap2DROS::getOrientedFootprint(), nav2_costmap_2d::ObstacleLayer::updateFootprint(), nav2_costmap_2d::StaticLayer::updateFootprint(), and nav2_costmap_2d::Costmap2DROS::updateMap().

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Classes

Typedefs

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ CombinationMethod

◆ ConnectivityType

Function Documentation

◆ calculateMinAndMaxDistances()

◆ connectedComponents()

◆ dilate()

◆ makeFootprintFromString()

◆ transformFootprint() [1/2]

◆ transformFootprint() [2/2]