What problem does it solve? Applying spatial restrictions like keepout zones or speed limits to a Nav2 navigation stack normally requires modifying the base map or writing custom costmap layers. This Skill explains how to use Nav2's costmap filter infrastructure to overlay spatial masks on the costmap without touching the original map. ## Core Features & Use Cases - Filter Architecture Setup: Configure the two required components — the CostmapFilterInfoServer node and the filter layer plugin inside the costmap — with correct topic wiring. - Three Filter Types: Apply KeepoutFilter (lethal regions), SpeedFilter (speed-limited regions), or BinaryFilter (entry/exit topic triggers) using a standard OccupancyGrid mask. - Mask Creation Guidance: Build a filter mask PGM/YAML from the navigation map with matching origin and resolution, and run multiple filters simultaneously on separate topics. - Use Case: A warehouse robot must never enter a charging area and must slow down near pedestrian walkways. Create a mask marking those regions, serve it via map_server, and add keepout and speed filter plugins to the global costmap. ## Quick Start Set up a Nav2 keepout zone for my map by creating a filter mask and adding the KeepoutFilter plugin to my global costmap configuration.
