Disable costmap filter zones from tb3 bringup (only Tb4 enabled) (#5223)

SteveMacenski · web-flow · commit 6206406d20da · 2025-06-02T12:26:08.000-07:00
* Update tb3_loopback_simulation_launch.py

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

* Update tb3_simulation_launch.py

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

---------

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
diff --git a/nav2_bringup/launch/tb3_loopback_simulation_launch.py b/nav2_bringup/launch/tb3_loopback_simulation_launch.py
@@ -144,6 +144,8 @@ def generate_launch_description() -> LaunchDescription:
             'use_composition': use_composition,
             'use_respawn': use_respawn,
             'use_localization': 'False',  # Don't use SLAM, AMCL
+            'use_keepout_zones': 'False',
+            'use_speed_zones': 'False',
         }.items(),
     )
 
diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -195,6 +195,8 @@ def generate_launch_description() -> LaunchDescription:
             'autostart': autostart,
             'use_composition': use_composition,
             'use_respawn': use_respawn,
+            'use_keepout_zones': 'False',
+            'use_speed_zones': 'False',
         }.items(),
     )
     # The SDF file for the world is a xacro file because we wanted to

Original file line number	Diff line number	Diff line change
`@@ -144,6 +144,8 @@ def generate_launch_description() -> LaunchDescription:`
`144`	`144`	`'use_composition': use_composition,`
`145`	`145`	`'use_respawn': use_respawn,`
`146`	`146`	`'use_localization': 'False', # Don't use SLAM, AMCL`
	`147`	`+ 'use_keepout_zones': 'False',`
	`148`	`+ 'use_speed_zones': 'False',`
`147`	`149`	`}.items(),`
`148`	`150`	`)`
`149`	`151`
Original file line number	Diff line number	Diff line change
`@@ -195,6 +195,8 @@ def generate_launch_description() -> LaunchDescription:`
`195`	`195`	`'autostart': autostart,`
`196`	`196`	`'use_composition': use_composition,`
`197`	`197`	`'use_respawn': use_respawn,`
	`198`	`+ 'use_keepout_zones': 'False',`
	`199`	`+ 'use_speed_zones': 'False',`
`198`	`200`	`}.items(),`
`199`	`201`	`)`
`200`	`202`	`# The SDF file for the world is a xacro file because we wanted to`