Basic Info

Description of contribution in a few bullet points

• Fixed a bug with KeepoutFilter on robots using ARM-based computers
  • ARM by default considers char type as unsigned as described here
  • Simply using a char instead of signed char when reading the data from nav_msgs::msg::OccupancyGrid results in misinterpretation of -1 values representing UNKNOWN cells in the filter mask.

Description of documentation updates required from your changes

N/A

Description of how this change was tested

Keepout filter was tested on a robot using an ARM-based computer.

Future work that may be required in bullet points

N/A

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-*.