denoise-layer
CommunityClean noisy costmaps for reliable Nav2 navigation
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
DenoiseLayer removes salt-and-pepper noise from the costmap — isolated single-pixel or small-cluster lethal marks that aren't real obstacles. These appear from sensor noise, multipath reflections, or transient electrical interference, and cause unnecessary path deviations and replanning.
Core Features & Use Cases
- Denoise: eliminates small noisy obstacle clusters from the costmap to reduce false positives.
- Configurable: minimal_group_size parameter to control denoising aggressiveness.
- Use Case: improve path reliability in noisy lidar environments, reducing unnecessary replanning.
Quick Start
Enable denoise_layer in your local_costmap and set minimal_group_size to 2 to begin removing single-pixel noise.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: denoise-layer Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#denoise-layer Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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