Costmap Filters are implemented via Costamp2D plugins. The KeepoutFilter
can be enabled by adding keepout_filter to the
plugins parameter in nav2_params.yaml. To perform planning with
keepouts, it should be placed in global_costmap, and to make sure the
robot will not drive through the keepout zone, it should be placed in local_costmap.
Note that it is better to enable both local and global filtering, to avoid situations
when the path goes through the keepout zone (as we didn't set global), but robot can not enter it.
Fragment of nav2_params.yaml
global_costmap:
global_costmap:
ros__parameters:
...
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
filters: ["keepout_filter"]
...
keepout_filter:
plugin: "nav2_costmap_2d::KeepoutFilter"
enabled: True
filter_info_topic: "/costmap_filter_info"
...
local_costmap:
local_costmap:
ros__parameters:
...
plugins: ["voxel_layer", "inflation_layer"]
filters: ["keepout_filter"]
...
keepout_filter:
plugin: "nav2_costmap_2d::KeepoutFilter"
enabled: True
filter_info_topic: "/costmap_filter_info"
For a complete list of parameters supported by KeepoutFilter, see the Keepout Filter Parameters page.