How to substitute Keepout with SpeedLimits in nav2

OS:Ubuntu 20.04 Distribution: ROS2 galactic

I am using this as a reference to understand speed limits and and keepout. https://navigation.ros.org/tutorials/docs/navigation2withspeed_filter.html

I have two questions.

is it possible to substitute keepoutfilter with speedlimitfilter? I have confirmed that keepoutfilter and speedlimitfilter both work. However, I noticed that if I set the grayscale value to 100 (px:255), the global plan avoids 100 pixels. I am thinking that if the pixel grayscale can be avoided by setting the pixel grayscale to 100, then keepout can be achieved without using keepout_filter. Is this correct?
I found a procedure on the nav2 wiki to remove the black area when creating the speedlimit_filter mask image. Is this a necessary step? I felt it was not necessary to remove the black area, since the robot will not be able to enter the area.

Asked by hamada on 2022-06-22 02:29:10 UTC

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Answers

I'm not sure what you mean. You can use both / either / neither as wish. Sure, you could load a mask from one into another, but then the values might not remap to what you'd like them to (obviously, since you made a mask for Purpose A and then using it for Purpose B).
Necessary? No. Its a good practice though to keep the files clean and so that remappings of pixel values don't cause strange behaviors when close to those static points in the map.

Asked by stevemacenski on 2022-06-22 13:17:15 UTC

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Thank you very much.

Regarding the second answer. Is it safer to erase the gray areas as well as the black? I would consider that in keepout and speedlimits, it would be better to remove the gray part as well.

ex. https://dotup.org/uploda/dotup.org2832905.png ↓ https://dotup.org/uploda/dotup.org2832904.png

Asked by hamada on 2022-06-28 19:28:33 UTC