What problem does it solve? Robots navigating with Nav2 may plan paths through areas that must remain off-limits, such as staircases, fragile equipment zones, or hazardous regions. This Skill defines those no-go areas as lethal costmap cells so the planner and controller never route through them. ## Core Features & Use Cases - Mask-Based Zone Definition: Create a PGM filter mask from the navigation map where black pixels mark keepout regions and white pixels mark free space. - Nav2 Server Setup: Launch map_server and costmap_filter_info_server nodes to serve the mask and publish filter metadata (type=0 for keepout). - Costmap Integration: Add the KeepoutFilter plugin to the global (and optionally local) costmap plugin list before the inflation layer. - Use Case: A warehouse robot must never enter a charging-station maintenance area. Paint that region black in the mask, wire up the servers and filter plugin, and the global planner routes around it automatically. ## Quick Start Set up a Nav2 keepout zone for my map by creating a filter mask from my map PGM and adding the KeepoutFilter plugin to my global costmap configuration.
