Inflates obstacles to speed collision checking and to make robot prefer to stay away from obstacles. Listens to laser scan and point cloud messages and marks and clears grid cells. Listens to OccupancyGrid messages and copies them in, like from map_server. Similar to obstacle costmap, but uses 3D voxel grid to store data. A range-sensor (sonar, IR) based obstacle layer for costmap_2d Filters noise-induced freestanding obstacles or small obstacles groups Prevents the robot from appearing in keepout zones marked on map. Restricts maximum speed of robot in speed-limit zones marked on map. Binary flip filter.