Bug report

Problem description:
The problem appears when running KeepoutFilter with a mask published in a different frame than current costmap layer (master_grid) has. This could be happen (but not restricted only to) e.g. when running KeepoutFilter on local_costmap where the filter mask does not match current costmap layer because of they are set in a different frames: "map" and "odom" accordingly. Keepout zones on local costmaps will have incorrect positions, like shown in the picture below:

The problem is fixed by adding the mask_frame->costmap_frame transform consideration during the process() call.

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Foxy
• Version or commit hash:
  • Checked on e1e1be4