speed-restricted-zones

To enforce speed limits in Nav2, you define restricted map zones using a grayscale mask served as an OccupancyGrid, then apply a SpeedFilter plugin that publishes speed limits to the controller.

A speed mask is a grayscale image defining per-area speed limits, served as an OccupancyGrid. The SpeedFilter reads this mask and publishes limits to the controller, which adjusts maximum velocity.

You can set both absolute speed limits and percentage-based velocity reductions. The SpeedFilter plugin supports both modes, allowing flexible per-zone velocity control during navigation.

Configure a costmap speed filter by loading a grayscale mask image into the map server. The SpeedFilter plugin processes this OccupancyGrid to publish speed limits, automatically throttling the robot.

Yes, this Nav2 speed restriction approach is explicitly designed for crowded indoor environments, ramps, and zones near delicate equipment, automatically adjusting maximum velocity to improve safety.

The SpeedFilter requires a controller client subscribed to adjust maximum velocity. Ensure your map server correctly serves the grayscale mask as an OccupancyGrid and the controller subscribes to speed_limit.