Added keepout filter for depot and warehouse maps

[leander-dsouza]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4400
Primary OS tested on	Ubuntu
Robotic platform tested on	Turtlebot4 Simulation
Does this PR contain AI generated software?	No

---

Description of testing performed

• Validated lintiing using pre-commit
• Tested the package using colcon test.

Description of contribution in a few bullet points

Depot

• Added a keepout region at the centre of the depot map in turtlebot4.

  

  keepout_filter_demo_depot.mp4

Warehouse

• Added a keepout region at the centre of the warehouse map in turtlebot4.

  

  keepout_filter_demo.mp4

• Added a keepout_map and use_keepout_filter as launch arguments.

• Added a constant dictionary for easily switching between depot and warehouse maps for turtlebot4.

Description of documentation updates required from your changes

• A small tutorial can be added once the speed zones are added to both depot and warehouse worlds.

Description of how this change was tested

• A goal was given, and the robot avoided the keepout region.

Future work that may be required in bullet points

• Add speed zones in warehouse and depot maps.

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

[codecov]

Codecov Report

Attention: Patch coverage is 88.88889% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/src/layer.cpp	85.71%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...stmap_2d/include/nav2_costmap_2d/costmap_layer.hpp	100.00% <ø> (ø)
nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp	100.00% <ø> (ø)
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp	96.51% <100.00%> (+2.32%)	⬆️
nav2_costmap_2d/src/costmap_layer.cpp	67.82% <ø> (-1.03%)	⬇️
nav2_costmap_2d/src/layer.cpp	89.47% <85.71%> (-0.85%)	⬇️

... and 5 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[SteveMacenski]

Pretty good!

[SteveMacenski]

LGTM! Lets get this in before doing the speed zones in a follow up PR. You can open a PR against this branch if you have that done already so we can review, but it would be good to keep these 2 PRs decoupled to make it easier to review

[mergify]

This pull request is in conflict. Could you fix it @leander-dsouza?

[SteveMacenski]

After that Layer update, I think this is good to merge!

[SteveMacenski]

FYI @leander-dsouza now that this is default behavior, I filed a ticket about a known quirk that we may want to address. Its a bit more substantive that you can sink your teeth into if you're interested: #5139

[SteveMacenski]

Done! I look forward to the speed filter next!

I think you should make a nice gif of the robot doing its thing with keepout and speed zones. That would be good to include in the Migration Guide and we can jointly announce that on LinkedIn :-)

[leander-dsouza]

Done! I look forward to the speed filter next!

I think you should make a nice gif of the robot doing its thing with keepout and speed zones. That would be good to include in the Migration Guide and we can jointly announce that on LinkedIn :-)

That sounds great :)
I will make the PR for the speed filter shortly.