What problem does it solve? Salt-and-pepper noise in Nav2 costmaps — isolated single-pixel lethal marks from sensor noise, multipath reflections, or electrical interference — causes robots to swerve, replan excessively, and deviate from optimal paths. This Skill provides the configuration knowledge to filter those spurious marks using the Nav2 DenoiseLayer plugin. ## Core Features & Use Cases - Noise Cluster Filtering: Configure minimal_group_size to remove connected lethal-cell clusters below a size threshold, with guidance on values 1 through 4+ and their trade-offs. - Correct Plugin Ordering: Ensures DenoiseLayer is placed after obstacle/voxel layers and before the inflation layer so inflation only applies to real obstacles. - Use Case: A robot with a cheap lidar shows scattered phantom dots in RViz near glass walls, causing constant replanning. Add the denoise_layer with minimal_group_size: 2 between the voxel layer and inflation layer to eliminate the phantom obstacles. ## Quick Start Add the denoise_layer plugin to my Nav2 local costmap between the voxel layer and inflation layer with minimal_group_size set to 2.
