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Add support for dynamically changing keepout zone (#5429)#5547

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SteveMacenski merged 2 commits intoros-navigation:humblefrom
AntoBrandi:humble
Sep 23, 2025
Merged

Add support for dynamically changing keepout zone (#5429)#5547
SteveMacenski merged 2 commits intoros-navigation:humblefrom
AntoBrandi:humble

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@AntoBrandi AntoBrandi commented Sep 23, 2025

  • Add support for dynamically changing keepout zone

  • Linting

  • Revert binary and speed changes

Basic Info

Info Please fill out this column
Ticket(s) this addresses #5410
Primary OS tested on Ubuntu 22.04
Robotic platform tested on Tiago Pro
Does this PR contain AI generated software? No)
Was this PR description generated by AI software? No

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

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-*.

This is a manual backport of pull request #5429

@AntoBrandi AntoBrandi mentioned this pull request Sep 23, 2025
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mergify bot commented Sep 23, 2025

@AntoBrandi, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

@SteveMacenski
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SteveMacenski commented Sep 23, 2025

You have a compilation error:

--- stderr: nav2_costmap_2d
/opt/overlay_ws/src/navigation2/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp: In member function ‘void nav2_costmap_2d::KeepoutFilter::maskCallback(nav_msgs::msg::OccupancyGrid_<std::allocator<void> >::SharedPtr)’:
/opt/overlay_ws/src/navigation2/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp:150:3: error: ‘filter_mask_’ was not declared in this scope
  150 |   filter_mask_ = msg;

@mini-1235 @AntoBrandi
Add support for dynamically changing keepout zone (ros-navigation#5429)
7561c3d 
* Add support for dynamically changing keepout zone

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Linting

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Revert binary and speed changes

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
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AntoBrandi commented Sep 23, 2025

My bad! Now should be fine

@SteveMacenski
Fix linting error
1cea6fc 
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
@SteveMacenski SteveMacenski merged commit 4d3152c into ros-navigation:humble Sep 23, 2025
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@AntoBrandi @SteveMacenski @mini-1235