Basic Info

Description of contribution in a few bullet points

• I added a check whether filter_mask is nullptr.
• Warning if it hasn't been received yet.

Description of documentation updates required from your changes

Description of how this change was tested

• Checked whether a warning is printing if the filter mask is not received.
• Checked if it was still possible to leave the keep-out zone if the robot was inside this zone (same as in Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In #5187).
• Checked if it was still possible dynamically update keep-out zone (same as in Keepout zone unable to change dynamically #5410):

ros2 launch nav2_bringup tb4_simulation_launch.py headless:=False

Update filter mask:

ros2 service call /keepout_filter_mask_server/load_map nav2_msgs/srv/LoadMap "{map_url: '/opt/overlay_ws/src/navigation2/nav2_bringup/maps/depot_keepout_new.yaml'}"

Future work that may be required in bullet points

• Initially, I chose the logging type RCLCPP_WARN_THROTTLE identical to the check that in KeepoutFilter::process. But this type does't work correctly due to issue: Issue with RCLCPP THROTTLE logging in the plugin based approach #2587.
  Alternatively, we can temporarily use:

  • RCLCPP_WARN, but it fills the terminal too quickly.
  • RCLCPP_WARN_ONCE, this type also does not work correctly (it does not print once), but at least it provides information and with less frequency than the first option.

• Replace RCLCPP_WARN_ONCE with RCLCPP_WARN_THROTTLE, when the above issue will be solved.

• If you agree with the current implementation, I will also change the warning type in Keepout Filter::process.

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.