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Add option to override lethal cost in keepout zone #757

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Merged
SteveMacenski merged 2 commits into from
Aug 8, 2025
Merged

Add option to override lethal cost in keepout zone #757

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2ff4736
Add option to override lethal cost in keepout zone
mini-1235 Aug 8, 2025
312e647
Update configuration/packages/costmap-plugins/keepout_filter.rst
SteveMacenski Aug 8, 2025
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26 changes: 26 additions & 0 deletions configuration/packages/costmap-plugins/keepout_filter.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,28 @@ Note: As Costmap Filters does not have the inflation layer applied to them (sinc
Description
Name of the incoming `CostmapFilterInfo <https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/msg/CostmapFilterInfo.msg>`_ topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the :ref:`configuring_map_server` configuration page.

:``<filter name>``.override_lethal_cost:

====== =======
Type Default
------ -------
bool False
====== =======

Description
When true, check if the robot is in a lethal keepout zone, if so, replaces those lethal costs with lethal_override_cost.

:``<filter name>``.lethal_override_cost:

====== =======
Type Default
------ -------
double 252
====== =======

Description
The cost value written into those cells instead of lethal cost when override is active.

:``<filter name>``.transform_tolerance:

====== =======
Expand Down Expand Up @@ -58,6 +80,8 @@ Example
enabled: True
filter_info_topic: "/costmap_filter_info"
transform_tolerance: 0.1
override_lethal_cost: True
lethal_override_cost: 200
...
local_costmap:
local_costmap:
Expand All @@ -71,3 +95,5 @@ Example
enabled: True
filter_info_topic: "/costmap_filter_info"
transform_tolerance: 0.1
override_lethal_cost: True
lethal_override_cost: 200