keepout-zones

To set up keepout zones in Nav2, create a keepout_mask.yaml aligned with your navigation map, launch the map_server and costmap_filter_info_server, and load the KeepoutFilter plugin into the global costmap before inflation.

A keepout mask enforces safe navigation by marking specific map regions as lethal in the costmap, preventing the robot from planning through restricted rooms, hazardous zones, and temporary maintenance areas.

Yes, you can dynamically update keepout zones at runtime by pushing a new occupancy grid to the /keepout_mask topic, enabling real-time adjustment of restricted areas and temporary safety boundaries.

Yes, you need a base occupancy map and a matching keepout_mask.yaml file. The PGM mask is served by a map server and applied by the KeepoutFilter plugin to mark lethal cells in the global costmap.

If the robot still plans through restricted areas, verify that the KeepoutFilter plugin is wired into the global costmap before inflation, and ensure the keepout_mask.yaml dimensions exactly match the base occupancy map.