Costmap Filter Info Publisher Server publishes messages of nav2_msgs/CostmapFilterInfo type. These messages contain meta information of the costmap filter we use, like filter type or data conversion coefficients. Accordingly, we need to run this server as a lifecycle node.
Quote: According to the
design document,
nav2_msgs/CostmapFilterInfo messages are going in a pair
with OccupancyGrid filter mask topic. Therefore, along with
Costmap Filter Info Publisher Server there should be enabled a new instance of
Map Server configured to publish filter mask.
Here is an example (fragment) of localization_launch.py
Node( package='nav2_map_server', executable='map_server', name='map_server', output='screen', emulate_tty=True, # https://github.com/ros2/launch/issues/188 parameters=[configured_params], remappings=remappings), Node( package='nav2_map_server', executable='costmap_filter_info_server', name='costmap_filter_info_server', namespace=namespace, output='screen', emulate_tty=True, # https://github.com/ros2/launch/issues/188 parameters=[configured_params]),
In nav2_params.yaml file, we have to provide parameters for our Costmap Filter Info Publisher Server and Map Server nodes. For a complete list of parameters, refer to Map Server / Saver page.
nav2_params.yaml:
amcl: ros__parameters: set_initial_pose: True initial_pose: x: -8.13 y: -5.1 z: 0.0 yaw: 0.0 initial_pose: [-8.13, -5.1, 0.0, 0.0] use_sim_time: True alpha1: 0.002 alpha2: 0.002 alpha3: 0.002 alpha4: 0.002 alpha5: 0.002 base_frame_id: "base_footprint" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 do_beamskip: false global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 laser_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "differential" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 1.0 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 scan_topic: scan amcl_map_client: ros__parameters: use_sim_time: True amcl_rclcpp_node: ros__parameters: use_sim_time: True bt_navigator: ros__parameters: use_sim_time: True global_frame: map robot_base_frame: base_link odom_topic: /odometry/filtered # /odom #/wheel/odometry bt_loop_duration: 10 default_server_timeout: 20 enable_groot_monitoring: True groot_zmq_publisher_port: 1666 groot_zmq_server_port: 1667 # Galactic: default_bt_xml_filename: "navigate_to_pose_w_replanning_and_recovery.xml" #Foxy: #default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml" plugin_lib_names: # Galactic: - nav2_compute_path_to_pose_action_bt_node - nav2_compute_path_through_poses_action_bt_node - nav2_follow_path_action_bt_node - nav2_back_up_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_clear_costmap_service_bt_node - nav2_is_stuck_condition_bt_node - nav2_goal_reached_condition_bt_node - nav2_goal_updated_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node - nav2_distance_controller_bt_node - nav2_speed_controller_bt_node - nav2_truncate_path_action_bt_node - nav2_goal_updater_node_bt_node - nav2_recovery_node_bt_node - nav2_pipeline_sequence_bt_node - nav2_round_robin_node_bt_node - nav2_transform_available_condition_bt_node - nav2_time_expired_condition_bt_node - nav2_distance_traveled_condition_bt_node - nav2_single_trigger_bt_node - nav2_is_battery_low_condition_bt_node - nav2_navigate_through_poses_action_bt_node - nav2_navigate_to_pose_action_bt_node - nav2_remove_passed_goals_action_bt_node - nav2_planner_selector_bt_node - nav2_controller_selector_bt_node - nav2_goal_checker_selector_bt_node # Foxy: #- nav2_compute_path_to_pose_action_bt_node #- nav2_follow_path_action_bt_node #- nav2_back_up_action_bt_node #- nav2_spin_action_bt_node #- nav2_wait_action_bt_node #- nav2_clear_costmap_service_bt_node #- nav2_is_stuck_condition_bt_node #- nav2_goal_reached_condition_bt_node #- nav2_goal_updated_condition_bt_node #- nav2_initial_pose_received_condition_bt_node #- nav2_reinitialize_global_localization_service_bt_node #- nav2_rate_controller_bt_node #- nav2_distance_controller_bt_node #- nav2_speed_controller_bt_node #- nav2_truncate_path_action_bt_node #- nav2_goal_updater_node_bt_node #- nav2_recovery_node_bt_node #- nav2_pipeline_sequence_bt_node #- nav2_round_robin_node_bt_node #- nav2_transform_available_condition_bt_node #- nav2_time_expired_condition_bt_node #- nav2_distance_traveled_condition_bt_node #- nav2_single_trigger_bt_node #- nav2_is_battery_low_condition_bt_node #- nav2_navigate_through_poses_action_bt_node #- nav2_navigate_to_pose_action_bt_node #- nav2_remove_passed_goals_action_bt_node #- nav2_planner_selector_bt_node #- nav2_controller_selector_bt_node #- nav2_goal_checker_selector_bt_node bt_navigator_rclcpp_node: ros__parameters: use_sim_time: True controller_server: ros__parameters: use_sim_time: True controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugin: "goal_checker" # ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] # Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # Goal checker parameters #precise_goal_checker: # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 # stateful: True #general_goal_checker: # stateful: True # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 goal_checker: plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 1.0 yaw_goal_tolerance: 0.25 stateful: True # DWB parameters FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 # Default 0.26 for max_vel_x and max_speed_xy and 1.0 for max_vel_theta max_vel_x: 1.0 max_vel_y: 0.0 max_vel_theta: 1.0 min_speed_xy: 0.0 max_speed_xy: 1.0 min_speed_theta: 0.0 # Add high threshold velocity for turtlebot 3 issue. # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -3.2 vx_samples: 20 vy_samples: 5 vtheta_samples: 20 sim_time: 1.7 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.2 xy_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 local_costmap: local_costmap: ros__parameters: update_frequency: 5.0 publish_frequency: 2.0 global_frame: odom robot_base_frame: base_link use_sim_time: True rolling_window: true width: 10 height: 10 resolution: 0.05 robot_radius: 0.75 plugins: ["voxel_layer", "inflation_layer"] # UNCOMMENT FOR KEEPOUT DEMO filters: ["keepout_filter"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.95 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" static_layer: map_subscribe_transient_local: True always_send_full_costmap: True # UNCOMMENT FOR KEEPOUT DEMO keepout_filter: plugin: "nav2_costmap_2d::KeepoutFilter" enabled: True filter_info_topic: "/costmap_filter_info" local_costmap_client: ros__parameters: use_sim_time: True local_costmap_rclcpp_node: ros__parameters: use_sim_time: True global_costmap: global_costmap: ros__parameters: update_frequency: 1.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_link use_sim_time: True robot_radius: 0.75 resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "inflation_layer"] # UNCOMMENT FOR KEEPOUT DEMO filters: ["keepout_filter"] obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.95 always_send_full_costmap: True # UNCOMMENT FOR KEEPOUT DEMO keepout_filter: plugin: "nav2_costmap_2d::KeepoutFilter" enabled: True filter_info_topic: "/costmap_filter_info" global_costmap_client: ros__parameters: use_sim_time: True global_costmap_rclcpp_node: ros__parameters: use_sim_time: True controller_server_rclcpp_node: ros__parameters: use_sim_time: True # UNCOMMENT FOR KEEPOUT DEMO costmap_filter_info_server: ros__parameters: use_sim_time: true type: 0 filter_info_topic: "/costmap_filter_info" mask_topic: "/keepout_filter_mask" base: 0.0 multiplier: 1.0 # UNCOMMENT FOR KEEPOUT DEMO filter_mask_server: ros__parameters: use_sim_time: true frame_id: "map" topic_name: "/keepout_filter_mask" yaml_filename: "$HOME/SnowCron/ros_projects/ROS2/harsh/src/maps/keepout_mask.yaml" map_server: ros__parameters: use_sim_time: True yaml_filename: "map.yaml" topic_name: "map" frame_id: "map" map_saver: ros__parameters: use_sim_time: True save_map_timeout: 5000 free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: False planner_server: ros__parameters: expected_planner_frequency: 20.0 use_sim_time: True planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true planner_server_rclcpp_node: ros__parameters: use_sim_time: True recoveries_server: ros__parameters: costmap_topic: local_costmap/costmap_raw footprint_topic: local_costmap/published_footprint cycle_frequency: 10.0 recovery_plugins: ["spin", "backup", "wait"] spin: plugin: "nav2_recoveries/Spin" backup: plugin: "nav2_recoveries/BackUp" wait: plugin: "nav2_recoveries/Wait" global_frame: odom robot_base_frame: base_link transform_timeout: 0.1 use_sim_time: true simulate_ahead_time: 2.0 max_rotational_vel: 1.0 min_rotational_vel: 0.4 rotational_acc_lim: 3.2 robot_state_publisher: ros__parameters: use_sim_time: True slam_toolbox: ros__parameters: use_sim_time: True # Plugin params solver_plugin: solver_plugins::CeresSolver ceres_linear_solver: SPARSE_NORMAL_CHOLESKY ceres_preconditioner: SCHUR_JACOBI ceres_trust_strategy: LEVENBERG_MARQUARDT ceres_dogleg_type: TRADITIONAL_DOGLEG ceres_loss_function: None # ROS Parameters odom_frame: odom map_frame: map base_frame: base_footprint scan_topic: /scan mode: mapping #localization # if you'd like to immediately start continuing a map at a given pose # or at the dock, but they are mutually exclusive, if pose is given # will use pose #map_file_name: test_steve #map_start_pose: [0.0, 0.0, 0.0] #map_start_at_dock: true debug_logging: false throttle_scans: 1 transform_publish_period: 0.02 #if 0 never publishes odometry map_update_interval: 5.0 resolution: 0.05 max_laser_range: 20.0 #for rastering images minimum_time_interval: 0.5 transform_timeout: 0.2 tf_buffer_duration: 30. stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps enable_interactive_mode: true # General Parameters use_scan_matching: true use_scan_barycenter: true minimum_travel_distance: 0.5 minimum_travel_heading: 0.5 scan_buffer_size: 10 scan_buffer_maximum_scan_distance: 10.0 link_match_minimum_response_fine: 0.1 link_scan_maximum_distance: 1.5 loop_search_maximum_distance: 3.0 do_loop_closing: true loop_match_minimum_chain_size: 10 loop_match_maximum_variance_coarse: 3.0 loop_match_minimum_response_coarse: 0.35 loop_match_minimum_response_fine: 0.45 # Correlation Parameters - Correlation Parameters correlation_search_space_dimension: 0.5 correlation_search_space_resolution: 0.01 correlation_search_space_smear_deviation: 0.1 # Correlation Parameters - Loop Closure Parameters loop_search_space_dimension: 8.0 loop_search_space_resolution: 0.05 loop_search_space_smear_deviation: 0.03 # Scan Matcher Parameters distance_variance_penalty: 0.5 angle_variance_penalty: 1.0 fine_search_angle_offset: 0.00349 coarse_search_angle_offset: 0.349 coarse_angle_resolution: 0.0349 minimum_angle_penalty: 0.9 minimum_distance_penalty: 0.5 use_response_expansion: true waypoint_follower: ros__parameters: use_sim_time: True loop_rate: 20 stop_on_failure: False waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True waypoint_pause_duration: 200 #lifecycle_manager: # ros__parameters: # use_sim_time: True # autostart: true # node_names: ['nav2_map_server', 'controller_server', 'planner_server', # #'behavior_server', # 'bt_navigator', 'waypoint_follower'] # bond_timeout: 4.0 # attempt_respawn_reconnection: True # bond_respawn_max_duration: 10.0
For Keepout Filter, the type should be set to 0, mask -topic should be equal to mask_topic parameter of Costmap Filter Info Publishing Server and topic_name parameter of Map Server.
According to official tutorial, base and multiplier are not used, but should be set to 0.0 and 1.0 nevertheless.