Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (backport #5187)#5215
Merged
SteveMacenski merged 1 commit intokiltedfrom Jun 1, 2025
Conversation
…Zones if Wandered In (#5187) * Adding toggle option of keepout zone Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Default off Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Join conditions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * spell check Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * copilot suggestions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update keepout_filter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> (cherry picked from commit eb2235a)
Contributor
Author
SteveMacenski
approved these changes
Jun 1, 2025
Collaborator
|
Is this possible to backport to Jazzy? |
Member
|
@mini-1235 I'm sure I tried but it wouldn't do it due to merge conflicts. If you opened one, I'd merge it |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This resolves #5139
In it, we check if we're in a lethal keepout zone. If optionally enabled (default off, but on in
nav2_params.yaml), we reduce the lethal cost to a very high but navigable cost (252) in order to allow the robot to leave on its own but in a very efficient way.This cost can be tuned by users to weight the incentives to continue towards the goal (lower cost) with incentives to leave the keepout zone immediately (252 max).
We update the costmap in the full window size during this mode in order to make sure we set all cells as lethal again once exiting the keepout zone (to keep them in update scope).
This is an automatic backport of pull request #5187 done by Mergify.