keepout-zones
CommunityEnforce safe navigation with keepout zones.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Keeps certain map regions off limits by marking them as lethal in the costmap, preventing the robot from planning through them and enabling safer operation around stairs, restricted rooms, and hazardous zones.
Core Features & Use Cases
- Mask-based keepout workflow using a PGM mask served by a map server, with a KeepoutFilter plugin applying lethal cells to the global costmap.
- Dynamic updates allow adjusting zones at runtime by pushing a new occupancy grid to /keepout_mask.
- Common use cases include protecting fragile equipment, enforcing temporary safety boundaries during maintenance, and excluding sensitive areas from navigation.
Quick Start
Create a keepout_mask.yaml aligned to your navigation map and launch the map_server and costmap_filter_info_server with the KeepoutFilter loaded in the global costmap before inflation.
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: keepout-zones Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#keepout-zones Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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