nav2-keepout-zone-map-creator

Introduction

Nav2 provides Keepout Filter. But, it is difficult to create Keepout Zone map using only Occupancy Grid Map. nav2-keepout-zone-map-creator is a tool that allows you to create a keepout zone map from an Occupancy Grid Map and 3D point cloud.

Demo

Requirements

• Python 3.10
• Open3D
• NumPy
• OpenCV
• Dear PyGui

Preparation

Installing the Package

python3 -m venv .venv/nav2-keepout-zone-map-creator
source .venv/nav2-keepout-zone-map-creator/bin/activate
pip install -r requirements.txt

Generating Occupancy Grid Map

You will need to generate a Occupancy Grid Map. As an example, we have prepared data/map.pgm. This data was generated using SLAM Toolbox.

Generating 3D Point Cloud Map

You will need to generate a 3D point cloud map.

docker run -it --rm -v $HOME:$HOME introlab3it/rtabmap:22.04 bash

rtabmap-export rtabmap-export <RTABMAP database file>

As an example, we have prepared data/cloud.ply. This data was generated using RTAB-Map.

Generating BEV(Bird's Eye View) image

You will need to generate a BEV(Bird's Eye View) image.

python3 generate_bev_image.py --input=<PointCloud Map PATH>

As an example, we have prepared data/cloud.ply.

python3 generate_bev_image.py --input=data/cloud.ply

Input Point Cloud	Generated BEV image

And, generate_bev_image.py has the following option.

Option	Description	Unit	Required
--input <filepath>	path to PoindCloud Map	-	True
--min_z <value>	min_z	meter	False
--max_z <value>	max_z	meter	False
--vis	enable to visualize BEV image	-	False

Usage

python3 generate_keepout_zone_map.py --map=<MAP IMAGE>  --bev=<BEV IMAGE>

generate_keepout_zone_map.py has the following option.

Option	Description	Unit	Required
--map <MAP IMAGE>	path to Occupancy Grid Map	-	True
--bev <BEV IMAGE>	path to BEV image	-	True

As an example, we have prepared data/map.pgm and data/cloud_birdseye.png.

python3 generate_keepout_zone_map.py --map=data/map.pgm  --bev=data/cloud_birdseye.png

Adjust parameters

You can adjust the following parameters.

Parameter	Unit
alpha	-
X shift	pixel
Y shift	pixel
rotation	deg
scale	-

Specify keepout zone

You can specify keepout zone as polygon.

Operation	Description
Light Mouse Click	add vertices
Push f key	finish to add vertices

Save keepout zone map

Please push Save button. <MAP_IMAGE_PREFIX>_keepout.pgm is saved.

Exit application

Please push q key.

Reference

• https://navigation.ros.org/tutorials/docs/navigation2_with_keepout_filter.html