What problem does it solve? Robots navigating with Nav2 often need to slow down in specific map areas such as crowded hallways, ramps, or zones with poor sensor visibility, but configuring velocity limits per region requires coordinating mask images, map servers, filter info servers, and controller subscriptions. ## Core Features & Use Cases - Mask-Based Speed Zones: Create grayscale mask images or OccupancyGrid arrays where pixel values map to percentage or absolute speed limits. - Full Nav2 Integration: Launch configurations for map_server and costmap_filter_info_server, plus costmap YAML wiring the SpeedFilter plugin into the global costmap. - Controller Compatibility Guidance: Explains native speed limit support in MPPI and Regulated Pure Pursuit, and the extra work needed for DWB. - Use Case: A warehouse robot must slow to 25% speed near a packing station. Paint that region gray in a mask aligned to the navigation map, serve it via map_server, and the controller automatically caps velocity when the robot enters the zone. ## Quick Start Set up a Nav2 speed restricted zone that limits my robot to 50 percent speed in a specific map area using a costmap filter mask.
