costmap-filters

To configure Nav2 costmap filters for keepout zones, use the CostmapFilterInfoServer and appropriate filter plugins to apply spatial masks. This selectively restricts robot navigation in hazardous areas without altering the base map.

Yes, you can regulate robot speed in specific corridors using ROS2 navigation by applying costmap filters. Speed filter plugins use spatial masks aligned with the navigation map to enforce per-region speed adjustments in high-traffic areas.

A costmap filter mask in Nav2 is a spatial overlay aligned to the navigation map. It selectively applies rules, such as keepout boundaries or speed limits, to the costmap layers to trigger behavior based on spatial regions.

Validating costmap filter mask alignment with the base map involves checking the spatial overlay against the navigation map coordinates. Proper validation ensures the filter plugins consistently apply per-region rules like keepout zones and speed adjustments.

Yes, the order of Nav2 costmap filter plugins affects performance and behavior. Ensuring correct plugin ordering within the CostmapFilterInfoServer workflow guarantees consistent application of spatial masks across restricted corridors and lane preferences.

You apply lane preferences in ROS2 Nav2 without modifying the base map by using costmap filters. Spatial masks overlay the navigation map to selectively affect costmap layers, enforcing preferred routes while preserving global navigation capabilities.