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Keepout zone unable to change dynamically #5410

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Keepout zone unable to change dynamically#5410
@mini-1235

Description

@mini-1235
mini-1235
opened on Jul 31, 2025

Bug report

Steps to reproduce issue

I am trying to dynamically change keepout zone by calling the service

 ros2 service call /keepout_filter_mask_server/load_map nav2_msgs/srv/LoadMap "{map_url: '/root/nav2_ws/src/navigation2/nav2_bringup/maps/depot_keepout_dup.yaml'}"

after this service is called, there should be a /keepout_filter_mask received

the log also shows that we have received it

[component_container_isolated-10] [INFO] [1753993363.636777201] [map_io]: Loading image_file: /root/nav2_ws/src/navigation2/nav2_bringup/maps/depot_keepout_dup.pgm
[component_container_isolated-10] [INFO] [1753993363.638780913] [map_io]: Read map /root/nav2_ws/src/navigation2/nav2_bringup/maps/depot_keepout_dup.pgm: 604 X 307 map @ 0.05 m/cell
[component_container_isolated-10] [WARN] [1753993363.639295950] [global_costmap.global_costmap]: KeepoutFilter: New filter mask arrived from /keepout_filter_mask topic. Updating old filter mask.

however, the map remain unchanged after I call the service

Reproduction instructions

  1. Run tb4 demo
ros2 launch nav2_bringup tb4_simulation_launch.py headless:=0
  1. call the service
ros2 service call /keepout_filter_mask_server/load_map nav2_msgs/srv/LoadMap "{map_url: '/root/nav2_ws/src/navigation2/nav2_bringup/maps/depot_keepout_dup.yaml'}"

depot_keepout_dup.pgm is shown as follow

Image
  1. the keepout zone should be updated, however it remains unchanged

If I drive the robot near the keepout zone, it will partially change, although not entirely correct

Image

Additional information

I believe this is related to this part of code

navigation2/nav2_costmap_2d/src/layered_costmap.cpp

Lines 158 to 250 in c5531cb

minx_ = miny_ = std::numeric_limits<double>::max();
maxx_ = maxy_ = std::numeric_limits<double>::lowest();
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin();
plugin != plugins_.end(); ++plugin)
{
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) {
RCLCPP_WARN(
rclcpp::get_logger(
"nav2_costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending layer is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
(*plugin)->getName().c_str());
}
}
for (vector<std::shared_ptr<Layer>>::iterator filter = filters_.begin();
filter != filters_.end(); ++filter)
{
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*filter)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) {
RCLCPP_WARN(
rclcpp::get_logger(
"nav2_costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending filter is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
(*filter)->getName().c_str());
}
}
int x0, xn, y0, yn;
combined_costmap_.worldToMapEnforceBounds(minx_, miny_, x0, y0);
combined_costmap_.worldToMapEnforceBounds(maxx_, maxy_, xn, yn);
x0 = std::max(0, x0);
xn = std::min(static_cast<int>(combined_costmap_.getSizeInCellsX()), xn + 1);
y0 = std::max(0, y0);
yn = std::min(static_cast<int>(combined_costmap_.getSizeInCellsY()), yn + 1);
RCLCPP_DEBUG(
rclcpp::get_logger(
"nav2_costmap_2d"), "Updating area x: [%d, %d] y: [%d, %d]", x0, xn, y0, yn);
if (xn < x0 || yn < y0) {
return;
}
if (filters_.size() == 0) {
// If there are no filters enabled just update costmap sequentially by each plugin
combined_costmap_.resetMap(x0, y0, xn, yn);
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin();
plugin != plugins_.end(); ++plugin)
{
(*plugin)->updateCosts(combined_costmap_, x0, y0, xn, yn);
}
} else {
// Costmap Filters enabled
// 1. Update costmap by plugins
primary_costmap_.resetMap(x0, y0, xn, yn);
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin();
plugin != plugins_.end(); ++plugin)
{
(*plugin)->updateCosts(primary_costmap_, x0, y0, xn, yn);
}
// 2. Copy processed costmap window to a final costmap.
// primary_costmap_ remain to be untouched for further usage by plugins.
if (!combined_costmap_.copyWindow(primary_costmap_, x0, y0, xn, yn, x0, y0)) {
RCLCPP_ERROR(
rclcpp::get_logger("nav2_costmap_2d"),
"Can not copy costmap (%i,%i)..(%i,%i) window",
x0, y0, xn, yn);
throw std::runtime_error{"Can not copy costmap"};
}
// 3. Apply filters over the plugins in order to make filters' work
// not being considered by plugins on next updateMap() calls
for (vector<std::shared_ptr<Layer>>::iterator filter = filters_.begin();
filter != filters_.end(); ++filter)
{
(*filter)->updateCosts(combined_costmap_, x0, y0, xn, yn);
}
}

and I have managed to solve this problem by updating the min_x, min_y, max_x, max_y here

navigation2/nav2_costmap_2d/src/layered_costmap.cpp

Line 186 in c5531cb

(*filter)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);

which would involve adding a subscriber to /keepout_mask in costmap_filter.cpp

I am open to other suggestions/solutions

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