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nav2_costmap_2d: static_layer: add grid value interpretation for inscribed inflated obstacles #5561

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nav2_costmap_2d: static_layer: add grid value interpretation for inscribed inflated obstacles #5561

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b3efe17
nav2_costmap_2d: static_layer: add grid value interpretation for insc…
DylanDeCoeyer-Quimesis Sep 29, 2025
6a58990
nav2_costmap_2d: fix unit tests following change
DylanDeCoeyer-Quimesis Oct 1, 2025
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1 change: 1 addition & 0 deletions nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -201,6 +201,7 @@ class StaticLayer : public CostmapLayer
bool track_unknown_space_;
bool use_maximum_;
unsigned char lethal_threshold_;
unsigned char inscribed_obstacle_cost_value_;
unsigned char unknown_cost_value_;
bool trinary_costmap_;
bool map_received_{false};
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4 changes: 4 additions & 0 deletions nav2_costmap_2d/plugins/static_layer.cpp
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Expand Up @@ -53,6 +53,7 @@ PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::StaticLayer, nav2_costmap_2d::Layer)

using nav2_costmap_2d::NO_INFORMATION;
using nav2_costmap_2d::LETHAL_OBSTACLE;
using nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
using nav2_costmap_2d::FREE_SPACE;
using rcl_interfaces::msg::ParameterType;

Expand Down Expand Up @@ -157,6 +158,7 @@ StaticLayer::getParameters()
node->get_parameter("track_unknown_space", track_unknown_space_);
node->get_parameter("use_maximum", use_maximum_);
node->get_parameter("lethal_cost_threshold", temp_lethal_threshold);
node->get_parameter("inscribed_obstacle_cost_value", inscribed_obstacle_cost_value_);
node->get_parameter("unknown_cost_value", unknown_cost_value_);
node->get_parameter("trinary_costmap", trinary_costmap_);
node->get_parameter("transform_tolerance", temp_tf_tol);
Expand Down Expand Up @@ -267,6 +269,8 @@ StaticLayer::interpretValue(unsigned char value)
return NO_INFORMATION;
} else if (!track_unknown_space_ && value == unknown_cost_value_) {
return FREE_SPACE;
} else if (value == inscribed_obstacle_cost_value_) {
return INSCRIBED_INFLATED_OBSTACLE;
} else if (value >= lethal_threshold_) {
return LETHAL_OBSTACLE;
} else if (trinary_costmap_) {
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1 change: 1 addition & 0 deletions nav2_costmap_2d/src/costmap_2d_ros.cpp
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Expand Up @@ -131,6 +131,7 @@ void Costmap2DROS::init()
declare_parameter("initial_transform_timeout", rclcpp::ParameterValue(60.0));
declare_parameter("trinary_costmap", rclcpp::ParameterValue(true));
declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
declare_parameter("inscribed_obstacle_cost_value", rclcpp::ParameterValue(99));
declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
declare_parameter("use_maximum", rclcpp::ParameterValue(false));
declare_parameter("subscribe_to_stamped_footprint", rclcpp::ParameterValue(false));
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6 changes: 3 additions & 3 deletions nav2_costmap_2d/test/integration/inflation_tests.cpp
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Expand Up @@ -462,7 +462,7 @@ TEST_F(TestNode, testInflation)
layers.updateMap(0, 0, 0);
// printMap(*costmap);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 20u);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 28u);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 78u);

/*/ Iterate over all id's and verify they are obstacles
for(std::vector<unsigned int>::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){
Expand All @@ -480,7 +480,7 @@ TEST_F(TestNode, testInflation)
// It and its 2 neighbors makes 3 obstacles
ASSERT_EQ(
countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE) +
countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 51u);
countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 98u);

// @todo Rewrite
// Add an obstacle at <2,0> which will inflate and refresh to of the other inflated cells
Expand All @@ -494,7 +494,7 @@ TEST_F(TestNode, testInflation)
// at <0, 1>
ASSERT_EQ(
countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE) +
countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 54u);
countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 98u);

// Add an obstacle at <1, 9>. This will inflate obstacles around it
addObservation(olayer, 1, 9);
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6 changes: 3 additions & 3 deletions nav2_costmap_2d/test/integration/plugin_container_tests.cpp
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Expand Up @@ -268,7 +268,7 @@ TEST_F(TestNode, testDifferentInflationLayers) {
nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();

ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 4);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 77);
}

TEST_F(TestNode, testDifferentInflationLayers2) {
Expand Down Expand Up @@ -317,7 +317,7 @@ TEST_F(TestNode, testDifferentInflationLayers2) {
nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();

ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 28);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 77);
}

TEST_F(TestNode, testResetting) {
Expand Down Expand Up @@ -447,7 +447,7 @@ TEST_F(TestNode, testClearing) {
nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();

ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 29);
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 77);
ASSERT_EQ(olayer_b->getCost(9, 9), nav2_costmap_2d::LETHAL_OBSTACLE);

pclayer_a->clearArea(-1, -1, 10, 10, false);
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