Add component for costmap_filter_info_server

[FiIipe]

Feature request

Feature description

Currently, there is no possibility to use the costmap_filter_info_server as a component.

Upon reviewing the recent commit, I noticed that the map_saver and map_server components were added, but the costmap_filter_info_server was not included as a component.

Therefore, I would like to request the addition of the costmap_filter_info_server as a component in the Navigation2 package, if possible.

Implementation considerations

No special considerations for the implementation.

Thank you for considering my feature request. I appreciate your dedication and efforts in continually enhancing the Nav2 package.

[SteveMacenski]

That seems reasonable enough to me - I'm surprised we overlooked that. @AlexeyMerzlyakov I think that's in your maintainer bin - can you make it a component + update tutorial to use in that way? Unless @FiIipe wanted to contribute it!

[FiIipe]

Sure, I would love to contribute to the Nav2 project!
I will start by reading the development guidelines for the Nav2 project and then I will implement the costmap_filter_info_server as a component.

Thank you!

[SteveMacenski]

I think broadly you should only need to register it as a component + cmake to support as lib / registered and it should be good to go with documentation updates. @AlexeyMerzlyakov, anything else you think @FiIipe would need to do?

[AlexeyMerzlyakov]

@FiIipe, thank you for the participation to contribute it!
It should be done the following:

1. Register nav2_map_server::CostmapFilterInfoServer class from the MapServer's core library as a component node in the CMakeLists.txt
2. Add standard registration include/comment/macros for this class at the end of costmap_filter_info_server.cpp file
3. Support nav2_map_server::CostmapFilterInfoServer class to use ROS node-options to be able to operate in a composition with another nodes (for more details, please refer to the Add argument node options #2522 PR)

Since costmap_filter_info_server is not a part of standard Nav2 bringup, we do not need to do anything else in nav2_bringup, so the above action items should be enough.

[SteveMacenski]

^ though tutorials changing to use as a component would be of real value

[FiIipe]

@SteveMacenski @AlexeyMerzlyakov I created two PR. One is already mentioned in this ticket and the other is for the navigation_tutorials package. The PR can be found here: ros-navigation/navigation2_tutorials#67

If my changes are approved, then it would be important to update also the documentation here: https://navigation.ros.org/tutorials/docs/navigation2_with_keepout_filter.html#configure-costmap-filter-info-publisher-server

Thank you 🤖

[SteveMacenski]

Documentation + tutorials repo changes still required!

[alejama]

Hi!
I'm trying to use nav2_costmap_filters_demo, but when I'm running shows me next problem:
launch.substitutions.substitution_failure.SubstitutionFailure: executable 'costmap_filter_info_server' not found on the libexec directory '/opt/ros/foxy/lib/nav2_map_server'

[SteveMacenski]

Foxy Is EOL and is no longer supported. It does not contain the costmap filter features. Upgrade to Humble :-)

@Filipe @AlexeyMerzlyakov how are the docs / tutorial changes coming along? It would be good to close this out next week

[FiIipe]

@SteveMacenski @AlexeyMerzlyakov I will look into it now, hopefully it will be merged soon :)

Thank you

[SteveMacenski]

@FiIipe any update? I'd like this squared away ASAP so we can get this off the issue tracker before everyone disappears for summer vacations

[FiIipe]

@SteveMacenski I'm waiting Alexey's review, he was on vacation. I'm not sure he is back

[SteveMacenski]

Got it, thanks!

[AlexeyMerzlyakov]

Apologies for late review: hot season after vacation today. Tutorials PR is almost done. Please submit a new PR to documentation updates describing the switching of CostmapFilterInfoServer to using Composable mode.

[SteveMacenski]

@FiIipe @AlexeyMerzlyakov can we try to get this done shortly? The actual code change is done and its a bad spot to be in without the docs

Edit: I guess if its just a tutorial its not that big of a deal. I'll just add a remark inline that you can also use composition nodes and be done with it.