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denoise-layer

Remove isolated lethal cells from Nav2 costmaps using configurable group sizes.

18|2|Updated Apr 20, 2026
Search Tags:#navigation#ros2#robotics#denoise#nav2#costmap
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill denoise-layer
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: denoise-layer
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/denoise-layer
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill denoise-layer

SYSTEM DOCUMENTATION & REQUIREMENTS

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.

Frequently Asked Questions about denoise-layer

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I remove salt-and-pepper noise from Nav2 costmaps in ROS 2?▼

Apply a denoising layer in your ROS 2 navigation pipeline to remove isolated lethal cells from the costmap, preventing false obstacle detection from sensor noise.

Why does my Nav2 robot replan paths unnecessarily in noisy lidar environments?▼

Unnecessary replanning in Nav2 occurs when sensor noise creates spurious single-pixel lethal marks in the costmap, which the planner interprets as real obstacles requiring path deviations.

How do I configure costmap denoising aggressiveness for isolated obstacle clusters?▼

Configure denoising aggressiveness by setting the minimal_group_size parameter, which controls the threshold for removing small noisy obstacle clusters while maintaining real obstacles in the costmap.

Does the denoise layer maintain real obstacles while removing costmap noise?▼

Yes, the denoise layer maintains real obstacles while removing costmap noise through a deterministic updateCosts workflow that evaluates spatial groupings, ensuring only isolated lethal cells are remediated.

Can I use a denoise layer with my existing ROS 2 navigation costmap plugins?▼

Yes, you can use a denoise layer with existing ROS 2 navigation costmap plugins by configuring it within your plugin order sequence, applying the deterministic updateCosts workflow alongside standard Nav2 components.

What causes isolated single-pixel lethal marks in ROS 2 navigation costmaps?▼

Isolated single-pixel lethal marks in ROS 2 costmaps are caused by sensor noise, multipath reflections, or transient electrical interference, generating false obstacle positives that disrupt navigation planning.

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