From 6a0c92cad7fb8bb1e3e8500742bc293cddbedc36 Mon Sep 17 00:00:00 2001
From: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>
Date: Wed, 16 Dec 2020 00:22:30 +0300
Subject: [PATCH] Speed Filter (#2074)

* Add speed limit filter

* Fix review items

* Remain only percent speed limit support

* Small review fixes

* Add error message for unknown cells on mask

* Fix missed items

* Ensure SpeedFilter is using accurate in time transform
instead of latest in TF Buffer

* Add costmap_filter_info_server into param description

* Set transform_tolerance to 0.1

* Update comment to be more informative
---
 doc/design/CostmapFilters_design.pdf          | Bin 74102 -> 73473 bytes
 doc/parameters/param_list.md                  |  26 +-
 .../nav2_controller/nav2_controller.hpp       |   9 +
 nav2_controller/src/nav2_controller.cpp       |  23 +
 nav2_core/include/nav2_core/controller.hpp    |   6 +
 nav2_costmap_2d/CMakeLists.txt                |   1 +
 nav2_costmap_2d/costmap_plugins.xml           |   5 +-
 .../costmap_filters/costmap_filter.hpp        |   3 -
 .../costmap_filters/filter_values.hpp         |  62 ++
 .../costmap_filters/speed_filter.hpp          | 120 +++
 .../costmap_filters/costmap_filter.cpp        |   7 +-
 .../costmap_filters/keepout_filter.cpp        |   6 +-
 .../plugins/costmap_filters/speed_filter.cpp  | 347 ++++++++
 nav2_costmap_2d/test/unit/CMakeLists.txt      |   6 +
 .../test/unit/keepout_filter_test.cpp         |  10 +-
 .../test/unit/speed_filter_test.cpp           | 767 ++++++++++++++++++
 .../include/dwb_core/dwb_local_planner.hpp    |  11 +
 .../include/dwb_core/trajectory_generator.hpp |   6 +
 .../dwb_plugins/kinematic_parameters.hpp      |   6 +
 .../dwb_plugins/standard_traj_generator.hpp   |  11 +
 .../dwb_plugins/src/kinematic_parameters.cpp  |  33 +
 .../dwb_plugins/test/CMakeLists.txt           |   3 +
 .../dwb_plugins/test/speed_limit_test.cpp     | 139 ++++
 .../costmap_filter_info_server.cpp            |   6 +-
 nav2_msgs/CMakeLists.txt                      |   1 +
 nav2_msgs/msg/CostmapFilterInfo.msg           |   3 +
 nav2_msgs/msg/SpeedLimit.msg                  |   6 +
 nav2_system_tests/maps/speed_mask.pgm         |   5 +
 nav2_system_tests/maps/speed_mask.yaml        |   7 +
 .../src/costmap_filters/CMakeLists.txt        |  32 +
 .../costmap_filters/speed_global_params.yaml  | 323 ++++++++
 .../costmap_filters/speed_local_params.yaml   | 318 ++++++++
 .../costmap_filters/test_keepout_launch.py    |   2 +-
 .../src/costmap_filters/test_speed_launch.py  | 132 +++
 .../src/costmap_filters/tester_node.py        |  90 +-
 35 files changed, 2501 insertions(+), 31 deletions(-)
 create mode 100644 nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/filter_values.hpp
 create mode 100644 nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/speed_filter.hpp
 create mode 100644 nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
 create mode 100644 nav2_costmap_2d/test/unit/speed_filter_test.cpp
 create mode 100644 nav2_dwb_controller/dwb_plugins/test/speed_limit_test.cpp
 create mode 100644 nav2_msgs/msg/SpeedLimit.msg
 create mode 100644 nav2_system_tests/maps/speed_mask.pgm
 create mode 100644 nav2_system_tests/maps/speed_mask.yaml
 create mode 100644 nav2_system_tests/src/costmap_filters/speed_global_params.yaml
 create mode 100644 nav2_system_tests/src/costmap_filters/speed_local_params.yaml
 create mode 100755 nav2_system_tests/src/costmap_filters/test_speed_launch.py

diff --git a/doc/design/CostmapFilters_design.pdf b/doc/design/CostmapFilters_design.pdf
index 016395c7eefaa5e917051a8285f3df52b26a09e1..c65866ba1451979a1dd077b74c2aa9e2ab27eaac 100644
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diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md
index 5b67b12d0d3..aa23d7b1f93 100644
--- a/doc/parameters/param_list.md
+++ b/doc/parameters/param_list.md
@@ -178,8 +178,19 @@ When `plugins` parameter is not overridden, the following default plugins are lo
 | Parameter | Default | Description |
 | ----------| --------| ------------|
 | `<filter name>`.enabled | true | Whether it is enabled |
-| `<filter name>`.filter_info_topic | N/A | Name of the CostmapFilterInfo topic having filter-related information |
-| `<filter name>`.transform_tolerance | 0.0 | TF tolerance |
+| `<filter name>`.filter_info_topic | N/A | Name of the incoming CostmapFilterInfo topic having filter-related information |
+| `<filter name>`.transform_tolerance | 0.1 | TF tolerance |
+
+## speed filter
+
+* `<filter name>`: Name corresponding to the `nav2_costmap_2d::SpeedFilter` plugin. This name gets defined in `plugins`.
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<filter name>`.enabled | true | Whether it is enabled |
+| `<filter name>`.filter_info_topic | N/A | Name of the incoming CostmapFilterInfo topic having filter-related information |
+| `<filter name>`.speed_limit_topic | "speed_limit" | Topic to publish speed limit to |
+| `<filter name>`.transform_tolerance | 0.1 | TF tolerance |
 
 # controller_server
 
@@ -195,6 +206,7 @@ When `plugins` parameter is not overridden, the following default plugins are lo
 | min_x_velocity_threshold | 0.0001 | Minimum X velocity to use (m/s) |
 | min_y_velocity_threshold | 0.0001 | Minimum Y velocity to use (m/s) |
 | min_theta_velocity_threshold | 0.0001 | Minimum angular velocity to use (rad/s) |
+| speed_limit_topic | "speed_limit" | Speed limiting topic name to subscribe |
 
 **NOTE:** When `controller_plugins` parameter is overridden, each plugin namespace defined in the list needs to have a `plugin` parameter defining the type of plugin to be loaded in the namespace.
 
@@ -453,6 +465,16 @@ When `controller_plugins`\`progress_checker_plugin`\`goal_checker_plugin` parame
 | topic_name | "map" | topic  to publish loaded map to |
 | frame_id | "map" | Frame to publish loaded map in |
 
+## costmap_filter_info_server
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| type | 0 | Type of costmap filter used. This is an enum for the type of filter this should be interpreted as. We provide the following pre-defined types: 0 - keepout zones / preferred lanes filter; 1 - speed filter, speed limit is specified in % of maximum speed; 2 - speed filter, speed limit is specified in absolute value (not implemented yet) |
+| filter_info_topic | "costmap_filter_info" | Topic to publish costmap filter information to |
+| mask_topic | "filter_mask" | Topic to publish filter mask to. The value of this parameter should be in accordance with `topic_name` parameter of `map_server` tuned to filter mask publishing |
+| base | 0.0 | Base of `OccupancyGrid` mask value -> filter space value linear conversion which is being proceeded as: `filter_space_value = base + multiplier * mask_value` |
+| multiplier | 1.0 | Multiplier of `OccupancyGrid` mask value -> filter space value linear conversion which is being proceeded as: `filter_space_value = base + multiplier * mask_value` |
+
 # planner_server
 
 | Parameter | Default | Description |
diff --git a/nav2_controller/include/nav2_controller/nav2_controller.hpp b/nav2_controller/include/nav2_controller/nav2_controller.hpp
index f59b65b9999..bc6420b5b53 100644
--- a/nav2_controller/include/nav2_controller/nav2_controller.hpp
+++ b/nav2_controller/include/nav2_controller/nav2_controller.hpp
@@ -27,6 +27,7 @@
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 #include "tf2_ros/transform_listener.h"
 #include "nav2_msgs/action/follow_path.hpp"
+#include "nav2_msgs/msg/speed_limit.hpp"
 #include "nav_2d_utils/odom_subscriber.hpp"
 #include "nav2_util/lifecycle_node.hpp"
 #include "nav2_util/simple_action_server.hpp"
@@ -196,6 +197,7 @@ class ControllerServer : public nav2_util::LifecycleNode
   // Publishers and subscribers
   std::unique_ptr<nav_2d_utils::OdomSubscriber> odom_sub_;
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>::SharedPtr vel_publisher_;
+  rclcpp::Subscription<nav2_msgs::msg::SpeedLimit>::SharedPtr speed_limit_sub_;
 
   // Progress Checker Plugin
   pluginlib::ClassLoader<nav2_core::ProgressChecker> progress_checker_loader_;
@@ -229,6 +231,13 @@ class ControllerServer : public nav2_util::LifecycleNode
 
   // Whether we've published the single controller warning yet
   geometry_msgs::msg::Pose end_pose_;
+
+private:
+  /**
+    * @brief Callback for speed limiting messages
+    * @param msg Shared pointer to nav2_msgs::msg::SpeedLimit
+    */
+  void speedLimitCallback(const nav2_msgs::msg::SpeedLimit::SharedPtr msg);
 };
 
 }  // namespace nav2_controller
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index 1415b2a95a5..bdf8ec4b83c 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -53,6 +53,8 @@ ControllerServer::ControllerServer()
   declare_parameter("min_y_velocity_threshold", rclcpp::ParameterValue(0.0001));
   declare_parameter("min_theta_velocity_threshold", rclcpp::ParameterValue(0.0001));
 
+  declare_parameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
+
   // The costmap node is used in the implementation of the controller
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "local_costmap", std::string{get_namespace()}, "local_costmap");
@@ -105,6 +107,9 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
   get_parameter("min_theta_velocity_threshold", min_theta_velocity_threshold_);
   RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
 
+  std::string speed_limit_topic;
+  get_parameter("speed_limit_topic", speed_limit_topic);
+
   costmap_ros_->on_configure(state);
 
   try {
@@ -170,6 +175,11 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
     rclcpp_node_, "follow_path",
     std::bind(&ControllerServer::computeControl, this));
 
+  // Set subscribtion to the speed limiting topic
+  speed_limit_sub_ = create_subscription<nav2_msgs::msg::SpeedLimit>(
+    speed_limit_topic, rclcpp::QoS(10),
+    std::bind(&ControllerServer::speedLimitCallback, this, std::placeholders::_1));
+
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
@@ -230,6 +240,7 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
   action_server_.reset();
   odom_sub_.reset();
   vel_publisher_.reset();
+  speed_limit_sub_.reset();
   action_server_.reset();
   goal_checker_->reset();
 
@@ -452,4 +463,16 @@ bool ControllerServer::getRobotPose(geometry_msgs::msg::PoseStamped & pose)
   return true;
 }
 
+void ControllerServer::speedLimitCallback(const nav2_msgs::msg::SpeedLimit::SharedPtr msg)
+{
+  ControllerMap::iterator it;
+  for (it = controllers_.begin(); it != controllers_.end(); ++it) {
+    if (!msg->percentage) {
+      RCLCPP_ERROR(get_logger(), "Speed limit in absolute values is not implemented yet");
+      return;
+    }
+    it->second->setSpeedLimit(msg->speed_limit);
+  }
+}
+
 }  // namespace nav2_controller
diff --git a/nav2_core/include/nav2_core/controller.hpp b/nav2_core/include/nav2_core/controller.hpp
index e60c0288169..9253d3f96d6 100644
--- a/nav2_core/include/nav2_core/controller.hpp
+++ b/nav2_core/include/nav2_core/controller.hpp
@@ -112,6 +112,12 @@ class Controller
   virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
     const geometry_msgs::msg::PoseStamped & pose,
     const geometry_msgs::msg::Twist & velocity) = 0;
+
+  /**
+   * @brief Limits the maximum linear speed of the robot.
+   * @param speed_limit expressed in percentage from maximum robot speed.
+   */
+  virtual void setSpeedLimit(const double & speed_limit) = 0;
 };
 
 }  // namespace nav2_core
diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
index a639b2ee103..6eee80bf820 100644
--- a/nav2_costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -98,6 +98,7 @@ target_link_libraries(layers
 
 add_library(filters SHARED
   plugins/costmap_filters/keepout_filter.cpp
+  plugins/costmap_filters/speed_filter.cpp
 )
 ament_target_dependencies(filters
   ${dependencies}
diff --git a/nav2_costmap_2d/costmap_plugins.xml b/nav2_costmap_2d/costmap_plugins.xml
index 3adad664d3d..d7cb9854933 100644
--- a/nav2_costmap_2d/costmap_plugins.xml
+++ b/nav2_costmap_2d/costmap_plugins.xml
@@ -18,9 +18,12 @@
   </library>
 
   <library path="filters">
-    <class type="nav2_costmap_2d::KeepoutFilter"  base_class_type="nav2_costmap_2d::Layer">
+    <class type="nav2_costmap_2d::KeepoutFilter"   base_class_type="nav2_costmap_2d::Layer">
       <description>Prevents the robot from appearing in keepout zones marked on map.</description>
     </class>
+    <class type="nav2_costmap_2d::SpeedFilter"     base_class_type="nav2_costmap_2d::Layer">
+      <description>Restricts maximum speed of robot in speed-limit zones marked on map.</description>
+    </class>
   </library>
 </class_libraries>
 
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp
index 5bdad73f380..9f265e41e86 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp
@@ -47,9 +47,6 @@
 namespace nav2_costmap_2d
 {
 
-static constexpr double BASE_DEFAULT = 0.0;
-static constexpr double MULTIPLIER_DEFAULT = 1.0;
-
 /**
  * @brief: CostmapFilter basic class. It is inherited from Layer in order to avoid
  * hidden problems when the shared handling of costmap_ resource (PR #1936)
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/filter_values.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/filter_values.hpp
new file mode 100644
index 00000000000..71d991c7e93
--- /dev/null
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/filter_values.hpp
@@ -0,0 +1,62 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020 Samsung Research Russia
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the <ORGANIZATION> nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Alexey Merzlyakov
+ *********************************************************************/
+
+#ifndef NAV2_COSTMAP_2D__FILTER_VALUES_HPP_
+#define NAV2_COSTMAP_2D__FILTER_VALUES_HPP_
+
+/** Provides constants used in costmap filters */
+
+namespace nav2_costmap_2d
+{
+
+/** Types of costmap filter */
+static constexpr uint8_t KEEPOUT_FILTER = 0;
+static constexpr uint8_t SPEED_FILTER_PERCENT = 1;
+static constexpr uint8_t SPEED_FILTER_ABSOLUTE = 2;
+
+/** Default values for base and multiplier */
+static constexpr double BASE_DEFAULT = 0.0;
+static constexpr double MULTIPLIER_DEFAULT = 1.0;
+
+/** Speed filter constants */
+static constexpr int8_t SPEED_MASK_UNKNOWN = -1;
+static constexpr int8_t SPEED_MASK_NO_LIMIT = 0;
+static constexpr double NO_SPEED_LIMIT = 0.0;
+
+}  // namespace nav2_costmap_2d
+
+#endif  // NAV2_COSTMAP_2D__FILTER_VALUES_HPP_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/speed_filter.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/speed_filter.hpp
new file mode 100644
index 00000000000..3d9b2e87181
--- /dev/null
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/speed_filter.hpp
@@ -0,0 +1,120 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020 Samsung Research Russia
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the <ORGANIZATION> nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Alexey Merzlyakov
+ *********************************************************************/
+
+#ifndef NAV2_COSTMAP_2D__SPEED_FILTER_HPP_
+#define NAV2_COSTMAP_2D__SPEED_FILTER_HPP_
+
+#include "nav2_costmap_2d/costmap_filters/costmap_filter.hpp"
+
+#include "nav_msgs/msg/occupancy_grid.hpp"
+#include "nav2_msgs/msg/costmap_filter_info.hpp"
+#include "nav2_msgs/msg/speed_limit.hpp"
+
+#include <memory>
+
+namespace nav2_costmap_2d
+{
+
+class SpeedFilter : public CostmapFilter
+{
+public:
+  SpeedFilter();
+
+  void initializeFilter(
+    const std::string & filter_info_topic);
+
+  void process(
+    nav2_costmap_2d::Costmap2D & master_grid,
+    int min_i, int min_j, int max_i, int max_j,
+    const geometry_msgs::msg::Pose2D & pose);
+
+  void resetFilter();
+
+  bool isActive();
+
+protected:
+  /**
+   * @brief:  Transforms robot pose from current layer frame to mask frame
+   * @param:  pose Robot pose in costmap frame
+   * @param:  mask_pose Robot pose in mask frame
+   * @return: True if the transformation was successful, false otherwise
+   */
+  bool transformPose(
+    const geometry_msgs::msg::Pose2D & pose,
+    geometry_msgs::msg::Pose2D & mask_pose) const;
+
+  /**
+   * @brief: Convert from world coordinates to mask coordinates.
+     Similar to Costmap2D::worldToMap() method but works directly with OccupancyGrid-s.
+   * @param  wx The x world coordinate
+   * @param  wy The y world coordinate
+   * @param  mx Will be set to the associated mask x coordinate
+   * @param  my Will be set to the associated mask y coordinate
+   * @return True if the conversion was successful (legal bounds) false otherwise
+   */
+  bool worldToMask(double wx, double wy, unsigned int & mx, unsigned int & my) const;
+
+  /**
+   * @brief  Get the data of a cell in the filter mask
+   * @param  mx The x coordinate of the cell
+   * @param  my The y coordinate of the cell
+   * @return The data of the selected cell
+   */
+  inline int8_t getMaskData(
+    const unsigned int mx, const unsigned int my) const;
+
+private:
+  void filterInfoCallback(const nav2_msgs::msg::CostmapFilterInfo::SharedPtr msg);
+  void maskCallback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg);
+
+  rclcpp::Subscription<nav2_msgs::msg::CostmapFilterInfo>::SharedPtr filter_info_sub_;
+  rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr mask_sub_;
+
+  rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::SpeedLimit>::SharedPtr speed_limit_pub_;
+
+  nav_msgs::msg::OccupancyGrid::SharedPtr filter_mask_;
+
+  std::string mask_frame_;  // Frame where mask located in
+  std::string global_frame_;  // Frame of currnet layer (master_grid)
+
+  double base_, multiplier_;
+  double speed_limit_, speed_limit_prev_;
+};
+
+}  // namespace nav2_costmap_2d
+
+#endif  // NAV2_COSTMAP_2D__SPEED_FILTER_HPP_
diff --git a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
index dfed2d32d84..bc788f91947 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
@@ -60,21 +60,20 @@ void CostmapFilter::onInitialize()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  // Declare parameters
+  // Declare common for all costmap filters parameters
   declareParameter("enabled", rclcpp::ParameterValue(true));
   declareParameter("filter_info_topic");
-  declareParameter("transform_tolerance", rclcpp::ParameterValue(0.0));
+  declareParameter("transform_tolerance", rclcpp::ParameterValue(0.1));
 
   // Get parameters
   node->get_parameter(name_ + "." + "enabled", enabled_);
   try {
     filter_info_topic_ = node->get_parameter(name_ + "." + "filter_info_topic").as_string();
   } catch (rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-    RCLCPP_ERROR(node->get_logger(), "filter_info_topic parameter is not set");
+    RCLCPP_ERROR(logger_, "filter_info_topic parameter is not set");
     throw ex;
   }
   double transform_tolerance;
-  // This is global for whole costmap parameter
   node->get_parameter(name_ + "." + "transform_tolerance", transform_tolerance);
   transform_tolerance_ = tf2::durationFromSec(transform_tolerance);
 }
diff --git a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
index 501523488f8..d0f8a670182 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
@@ -35,11 +35,11 @@
  * Author: Alexey Merzlyakov
  *********************************************************************/
 
-#include "nav2_costmap_2d/costmap_filters/keepout_filter.hpp"
-
 #include "tf2/convert.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
-#include "tf2_ros/transform_broadcaster.h"
+
+#include "nav2_costmap_2d/costmap_filters/keepout_filter.hpp"
+#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
 
 namespace nav2_costmap_2d
 {
diff --git a/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
new file mode 100644
index 00000000000..348687b300c
--- /dev/null
+++ b/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
@@ -0,0 +1,347 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020 Samsung Research Russia
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the <ORGANIZATION> nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Alexey Merzlyakov
+ *********************************************************************/
+
+#include "nav2_costmap_2d/costmap_filters/speed_filter.hpp"
+
+#include <cmath>
+
+#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "geometry_msgs/msg/point_stamped.hpp"
+
+#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
+
+namespace nav2_costmap_2d
+{
+
+SpeedFilter::SpeedFilter()
+: filter_info_sub_(nullptr), mask_sub_(nullptr),
+  speed_limit_pub_(nullptr), filter_mask_(nullptr), mask_frame_(""), global_frame_(""),
+  speed_limit_(NO_SPEED_LIMIT), speed_limit_prev_(NO_SPEED_LIMIT)
+{
+}
+
+void SpeedFilter::initializeFilter(
+  const std::string & filter_info_topic)
+{
+  std::lock_guard<CostmapFilter::mutex_t> guard(*getMutex());
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node = node_.lock();
+  if (!node) {
+    throw std::runtime_error{"Failed to lock node"};
+  }
+
+  // Declare "speed_limit_topic" parameter specific to SpeedFilter only
+  std::string speed_limit_topic;
+  declareParameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
+  node->get_parameter(name_ + "." + "speed_limit_topic", speed_limit_topic);
+
+  filter_info_topic_ = filter_info_topic;
+  // Setting new costmap filter info subscriber
+  RCLCPP_INFO(
+    logger_,
+    "SpeedFilter: Subscribing to \"%s\" topic for filter info...",
+    filter_info_topic_.c_str());
+  filter_info_sub_ = node->create_subscription<nav2_msgs::msg::CostmapFilterInfo>(
+    filter_info_topic_, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
+    std::bind(&SpeedFilter::filterInfoCallback, this, std::placeholders::_1));
+
+  // Get global frame required for speed limit publisher
+  global_frame_ = layered_costmap_->getGlobalFrameID();
+
+  // Create new speed limit publisher
+  speed_limit_pub_ = node->create_publisher<nav2_msgs::msg::SpeedLimit>(
+    speed_limit_topic, rclcpp::QoS(10));
+  speed_limit_pub_->on_activate();
+
+  // Reset speed conversion states
+  base_ = BASE_DEFAULT;
+  multiplier_ = MULTIPLIER_DEFAULT;
+}
+
+void SpeedFilter::filterInfoCallback(
+  const nav2_msgs::msg::CostmapFilterInfo::SharedPtr msg)
+{
+  std::lock_guard<CostmapFilter::mutex_t> guard(*getMutex());
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node = node_.lock();
+  if (!node) {
+    throw std::runtime_error{"Failed to lock node"};
+  }
+
+  if (!mask_sub_) {
+    RCLCPP_INFO(
+      logger_,
+      "SpeedFilter: Received filter info from %s topic.", filter_info_topic_.c_str());
+  } else {
+    RCLCPP_WARN(
+      logger_,
+      "SpeedFilter: New costmap filter info arrived from %s topic. Updating old filter info.",
+      filter_info_topic_.c_str());
+    // Resetting previous subscriber each time when new costmap filter information arrives
+    mask_sub_.reset();
+  }
+
+  // Set base_/multiplier_ or use speed limit in % of maximum speed
+  base_ = msg->base;
+  multiplier_ = msg->multiplier;
+  if (msg->type == SPEED_FILTER_PERCENT) {
+    // Using speed limit in % of maximum speed
+    RCLCPP_INFO(
+      logger_,
+      "SpeedFilter: Using expressed in a percent from maximum speed"
+      "speed_limit = %f + filter_mask_data * %f",
+      base_, multiplier_);
+  } else if (msg->type == SPEED_FILTER_ABSOLUTE) {
+    // Speed limit in absolute values is not implemented yet
+    RCLCPP_ERROR(logger_, "SpeedFilter: Speed limit in absolute values is not implemented yet");
+    return;
+  } else {
+    RCLCPP_ERROR(logger_, "SpeedFilter: Mode is not supported");
+    return;
+  }
+
+  mask_topic_ = msg->filter_mask_topic;
+
+  // Setting new filter mask subscriber
+  RCLCPP_INFO(
+    logger_,
+    "SpeedFilter: Subscribing to \"%s\" topic for filter mask...",
+    mask_topic_.c_str());
+  mask_sub_ = node->create_subscription<nav_msgs::msg::OccupancyGrid>(
+    mask_topic_, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
+    std::bind(&SpeedFilter::maskCallback, this, std::placeholders::_1));
+}
+
+void SpeedFilter::maskCallback(
+  const nav_msgs::msg::OccupancyGrid::SharedPtr msg)
+{
+  std::lock_guard<CostmapFilter::mutex_t> guard(*getMutex());
+
+  if (!filter_mask_) {
+    RCLCPP_INFO(
+      logger_,
+      "SpeedFilter: Received filter mask from %s topic.", mask_topic_.c_str());
+  } else {
+    RCLCPP_WARN(
+      logger_,
+      "SpeedFilter: New filter mask arrived from %s topic. Updating old filter mask.",
+      mask_topic_.c_str());
+    filter_mask_.reset();
+  }
+
+  filter_mask_ = msg;
+  mask_frame_ = msg->header.frame_id;
+}
+
+bool SpeedFilter::transformPose(
+  const geometry_msgs::msg::Pose2D & pose,
+  geometry_msgs::msg::Pose2D & mask_pose) const
+{
+  if (mask_frame_ != global_frame_) {
+    // Filter mask and current layer are in different frames:
+    // Transform (pose.x, pose.y) point from current layer frame (global_frame_)
+    // to mask_pose point in mask_frame_
+    geometry_msgs::msg::TransformStamped transform;
+    geometry_msgs::msg::PointStamped in, out;
+    in.header.stamp = clock_->now();
+    in.header.frame_id = global_frame_;
+    in.point.x = pose.x;
+    in.point.y = pose.y;
+    in.point.z = 0;
+
+    try {
+      tf_->transform(in, out, mask_frame_, transform_tolerance_);
+    } catch (tf2::TransformException & ex) {
+      RCLCPP_ERROR(
+        logger_,
+        "SpeedFilter: failed to get costmap frame (%s) "
+        "transformation to mask frame (%s) with error: %s",
+        global_frame_.c_str(), mask_frame_.c_str(), ex.what());
+      return false;
+    }
+    mask_pose.x = out.point.x;
+    mask_pose.y = out.point.y;
+  } else {
+    // Filter mask and current layer are in the same frame:
+    // Just use pose coordinates
+    mask_pose = pose;
+  }
+
+  return true;
+}
+
+bool SpeedFilter::worldToMask(double wx, double wy, unsigned int & mx, unsigned int & my) const
+{
+  double origin_x = filter_mask_->info.origin.position.x;
+  double origin_y = filter_mask_->info.origin.position.y;
+  double resolution = filter_mask_->info.resolution;
+  unsigned int size_x = filter_mask_->info.width;
+  unsigned int size_y = filter_mask_->info.height;
+
+  if (wx < origin_x || wy < origin_y) {
+    return false;
+  }
+
+  mx = std::round((wx - origin_x) / resolution);
+  my = std::round((wy - origin_y) / resolution);
+  if (mx >= size_x || my >= size_y) {
+    return false;
+  }
+
+  return true;
+}
+
+inline int8_t SpeedFilter::getMaskData(
+  const unsigned int mx, const unsigned int my) const
+{
+  return filter_mask_->data[my * filter_mask_->info.width + mx];
+}
+
+void SpeedFilter::process(
+  nav2_costmap_2d::Costmap2D & /*master_grid*/,
+  int /*min_i*/, int /*min_j*/, int /*max_i*/, int /*max_j*/,
+  const geometry_msgs::msg::Pose2D & pose)
+{
+  std::lock_guard<CostmapFilter::mutex_t> guard(*getMutex());
+
+  if (!filter_mask_) {
+    // Show warning message every 2 seconds to not litter an output
+    RCLCPP_WARN_THROTTLE(
+      logger_, *(clock_), 2000,
+      "SpeedFilter: Filter mask was not received");
+    return;
+  }
+
+  geometry_msgs::msg::Pose2D mask_pose;  // robot coordinates in mask frame
+
+  // Transforming robot pose from current layer frame to mask frame
+  if (!transformPose(pose, mask_pose)) {
+    return;
+  }
+
+  // Converting mask_pose robot position to filter_mask_ indexes (mask_robot_i, mask_robot_j)
+  unsigned int mask_robot_i, mask_robot_j;
+  if (!worldToMask(mask_pose.x, mask_pose.y, mask_robot_i, mask_robot_j)) {
+    return;
+  }
+
+  // Getting filter_mask data from cell where the robot placed and
+  // calculating speed limit value
+  int8_t speed_mask_data = getMaskData(mask_robot_i, mask_robot_j);
+  if (speed_mask_data == SPEED_MASK_NO_LIMIT) {
+    // Corresponding filter mask cell is free.
+    // Setting no speed limit there.
+    speed_limit_ = NO_SPEED_LIMIT;
+  } else if (speed_mask_data == SPEED_MASK_UNKNOWN) {
+    // Corresponding filter mask cell is unknown.
+    // Do nothing.
+    RCLCPP_ERROR(
+      logger_,
+      "SpeedFilter: Found unknown cell in filter_mask[%i, %i], "
+      "which is invalid for this kind of filter",
+      mask_robot_i, mask_robot_j);
+    return;
+  } else {
+    // Normal case: speed_mask_data in range of [1..100]
+    speed_limit_ = speed_mask_data * multiplier_ + base_;
+    if (speed_limit_ < 0.0) {
+      RCLCPP_WARN(
+        logger_,
+        "SpeedFilter: Speed limit in filter_mask[%i, %i] is less than 0%, "
+        "which can not be true. Setting it to 0% value.",
+        mask_robot_i, mask_robot_j);
+      speed_limit_ = NO_SPEED_LIMIT;
+    }
+    if (speed_limit_ > 100.0) {
+      RCLCPP_WARN(
+        logger_,
+        "SpeedFilter: Speed limit in filter_mask[%i, %i] is higher than 100%, "
+        "which can not be true. Setting it to 100% value.",
+        mask_robot_i, mask_robot_j);
+      speed_limit_ = 100.0;
+    }
+  }
+
+  if (speed_limit_ != speed_limit_prev_) {
+    if (speed_limit_ != NO_SPEED_LIMIT) {
+      RCLCPP_DEBUG(
+        logger_,
+        "SpeedFilter: Speed limit is set to %f%% of maximum speed",
+        speed_limit_);
+    } else {
+      RCLCPP_DEBUG(logger_, "SpeedFilter: Speed limit is set to its default value");
+    }
+
+    // Forming and publishing new SpeedLimit message
+    std::unique_ptr<nav2_msgs::msg::SpeedLimit> msg =
+      std::make_unique<nav2_msgs::msg::SpeedLimit>();
+    msg->header.frame_id = global_frame_;
+    msg->header.stamp = clock_->now();
+    msg->percentage = true;
+    msg->speed_limit = speed_limit_;
+    speed_limit_pub_->publish(std::move(msg));
+
+    speed_limit_prev_ = speed_limit_;
+  }
+}
+
+void SpeedFilter::resetFilter()
+{
+  std::lock_guard<CostmapFilter::mutex_t> guard(*getMutex());
+
+  filter_info_sub_.reset();
+  mask_sub_.reset();
+  if (speed_limit_pub_) {
+    speed_limit_pub_->on_deactivate();
+    speed_limit_pub_.reset();
+  }
+}
+
+bool SpeedFilter::isActive()
+{
+  std::lock_guard<CostmapFilter::mutex_t> guard(*getMutex());
+
+  if (filter_mask_) {
+    return true;
+  }
+  return false;
+}
+
+}  // namespace nav2_costmap_2d
+
+#include "pluginlib/class_list_macros.hpp"
+PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::SpeedFilter, nav2_costmap_2d::Layer)
diff --git a/nav2_costmap_2d/test/unit/CMakeLists.txt b/nav2_costmap_2d/test/unit/CMakeLists.txt
index 86b36cf3fb1..18b213d0576 100644
--- a/nav2_costmap_2d/test/unit/CMakeLists.txt
+++ b/nav2_costmap_2d/test/unit/CMakeLists.txt
@@ -23,3 +23,9 @@ target_link_libraries(keepout_filter_test
   nav2_costmap_2d_core
   filters
 )
+
+ament_add_gtest(speed_filter_test speed_filter_test.cpp)
+target_link_libraries(speed_filter_test
+  nav2_costmap_2d_core
+  filters
+)
diff --git a/nav2_costmap_2d/test/unit/keepout_filter_test.cpp b/nav2_costmap_2d/test/unit/keepout_filter_test.cpp
index cff800738bd..d9db1086530 100644
--- a/nav2_costmap_2d/test/unit/keepout_filter_test.cpp
+++ b/nav2_costmap_2d/test/unit/keepout_filter_test.cpp
@@ -186,7 +186,7 @@ void TestNode::rePublishInfo(double base, double multiplier)
   info_publisher_ = std::make_shared<InfoPublisher>(base, multiplier);
   // Allow both CostmapFilterInfo and filter mask subscribers
   // to receive a new message
-  waitSome(500ms);
+  waitSome(100ms);
 }
 
 void TestNode::rePublishMask()
@@ -194,7 +194,7 @@ void TestNode::rePublishMask()
   mask_publisher_.reset();
   mask_publisher_ = std::make_shared<MaskPublisher>(*mask_);
   // Allow filter mask subscriber to receive a new message
-  waitSome(500ms);
+  waitSome(100ms);
 }
 
 void TestNode::waitSome(const std::chrono::nanoseconds & duration)
@@ -202,7 +202,7 @@ void TestNode::waitSome(const std::chrono::nanoseconds & duration)
   rclcpp::Time start_time = node_->now();
   while (rclcpp::ok() && node_->now() - start_time <= rclcpp::Duration(duration)) {
     rclcpp::spin_some(node_->get_node_base_interface());
-    std::this_thread::sleep_for(100ms);
+    std::this_thread::sleep_for(10ms);
   }
 }
 
@@ -231,7 +231,7 @@ void TestNode::createKeepoutFilter(const std::string & global_frame)
   // Wait until mask will be received by KeepoutFilter
   while (!keepout_filter_->isActive()) {
     rclcpp::spin_some(node_->get_node_base_interface());
-    std::this_thread::sleep_for(100ms);
+    std::this_thread::sleep_for(10ms);
   }
 }
 
@@ -255,7 +255,7 @@ void TestNode::createTFBroadcaster(const std::string & mask_frame, const std::st
   tf_broadcaster_->sendTransform(*transform_);
 
   // Allow tf_buffer_ to be filled by listener
-  waitSome(200ms);
+  waitSome(100ms);
 }
 
 void TestNode::verifyMasterGrid(unsigned char free_value, unsigned char keepout_value)
diff --git a/nav2_costmap_2d/test/unit/speed_filter_test.cpp b/nav2_costmap_2d/test/unit/speed_filter_test.cpp
new file mode 100644
index 00000000000..43648d90cb7
--- /dev/null
+++ b/nav2_costmap_2d/test/unit/speed_filter_test.cpp
@@ -0,0 +1,767 @@
+// Copyright (c) 2020 Samsung Research Russia
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License. Reserved.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+#include <chrono>
+#include <vector>
+#include <tuple>
+#include <functional>
+#include <stdexcept>
+
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_util/lifecycle_node.hpp"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/transform_broadcaster.h"
+#include "nav2_util/occ_grid_values.hpp"
+#include "nav2_costmap_2d/cost_values.hpp"
+#include "nav_msgs/msg/occupancy_grid.hpp"
+#include "nav2_msgs/msg/costmap_filter_info.hpp"
+#include "nav2_msgs/msg/speed_limit.hpp"
+#include "nav2_costmap_2d/costmap_2d.hpp"
+#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
+#include "nav2_costmap_2d/costmap_filters/speed_filter.hpp"
+
+using namespace std::chrono_literals;
+
+static const std::string FILTER_NAME = "speed_filter";
+static const std::string INFO_TOPIC = "costmap_filter_info";
+static const std::string MASK_TOPIC = "mask";
+static const std::string SPEED_LIMIT_TOPIC = "speed_limit";
+
+static const double NO_TRANSLATION = 0.0;
+static const double TRANSLATION_X = 1.0;
+static const double TRANSLATION_Y = 1.0;
+
+static const uint8_t INCORRECT_TYPE = 200;
+
+static constexpr double EPSILON = 1e-5;
+
+class InfoPublisher : public rclcpp::Node
+{
+public:
+  InfoPublisher(uint8_t type, double base, double multiplier)
+  : Node("costmap_filter_info_pub")
+  {
+    publisher_ = this->create_publisher<nav2_msgs::msg::CostmapFilterInfo>(
+      INFO_TOPIC, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
+
+    std::unique_ptr<nav2_msgs::msg::CostmapFilterInfo> msg =
+      std::make_unique<nav2_msgs::msg::CostmapFilterInfo>();
+    msg->type = type;
+    msg->filter_mask_topic = MASK_TOPIC;
+    msg->base = static_cast<float>(base);
+    msg->multiplier = static_cast<float>(multiplier);
+
+    publisher_->publish(std::move(msg));
+  }
+
+  ~InfoPublisher()
+  {
+    publisher_.reset();
+  }
+
+private:
+  rclcpp::Publisher<nav2_msgs::msg::CostmapFilterInfo>::SharedPtr publisher_;
+};  // InfoPublisher
+
+class MaskPublisher : public rclcpp::Node
+{
+public:
+  MaskPublisher(const nav_msgs::msg::OccupancyGrid & mask)
+  : Node("mask_pub")
+  {
+    publisher_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>(
+      MASK_TOPIC,
+      rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
+
+    publisher_->publish(mask);
+  }
+
+  ~MaskPublisher()
+  {
+    publisher_.reset();
+  }
+
+private:
+  rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr publisher_;
+};  // MaskPublisher
+
+class SpeedLimitSubscriber : public rclcpp::Node
+{
+public:
+  SpeedLimitSubscriber(const std::string & speed_limit_topic)
+  : Node("speed_limit_sub"), speed_limit_updated_(false)
+  {
+    subscriber_ = this->create_subscription<nav2_msgs::msg::SpeedLimit>(
+      speed_limit_topic, rclcpp::QoS(10),
+      std::bind(&SpeedLimitSubscriber::speedLimitCallback, this, std::placeholders::_1));
+  }
+
+  void speedLimitCallback(
+    const nav2_msgs::msg::SpeedLimit::SharedPtr msg)
+  {
+    msg_ = msg;
+    speed_limit_updated_ = true;
+  }
+
+  nav2_msgs::msg::SpeedLimit::SharedPtr getSpeedLimit()
+  {
+    return msg_;
+  }
+
+  inline bool speedLimitUpdated()
+  {
+    return speed_limit_updated_;
+  }
+
+  inline void resetSpeedLimitIndicator()
+  {
+    speed_limit_updated_ = false;
+  }
+
+private:
+  rclcpp::Subscription<nav2_msgs::msg::SpeedLimit>::SharedPtr subscriber_;
+  nav2_msgs::msg::SpeedLimit::SharedPtr msg_;
+  bool speed_limit_updated_;
+};  // SpeedLimitSubscriber
+
+class TestMask : public nav_msgs::msg::OccupancyGrid
+{
+public:
+  TestMask(
+    unsigned int width, unsigned int height, double resolution,
+    const std::string & mask_frame)
+  : width_(width), height_(height)
+  {
+    // Fill filter mask info
+    header.frame_id = mask_frame;
+    info.resolution = resolution;
+    info.width = width_;
+    info.height = height_;
+    info.origin.position.x = 0.0;
+    info.origin.position.y = 0.0;
+    info.origin.position.z = 0.0;
+    info.origin.orientation.x = 0.0;
+    info.origin.orientation.y = 0.0;
+    info.origin.orientation.z = 0.0;
+    info.origin.orientation.w = 1.0;
+
+    // Fill test mask as follows:
+    //
+    //  mask           (10,11)
+    //   *----------------*
+    //   |91|92|...|99|100|
+    //   |...             |
+    //   |...             |
+    //   |11|12|13|...| 20|
+    //   | 1| 2| 3|...| 10|
+    //   |-1| 0| 0|...|  0|
+    //   *----------------*
+    // (0,0)
+    data.resize(width_ * height_, nav2_util::OCC_GRID_UNKNOWN);
+
+    unsigned int mx, my;
+    data[0] = -1;
+    for (mx = 1; mx < width_; mx++) {
+      data[mx] = 0;
+    }
+    unsigned int it;
+    for (my = 1; my < height_; my++) {
+      for (mx = 0; mx < width_; mx++) {
+        it = mx + my * width_;
+        data[it] = makeData(mx, my);
+      }
+    }
+  }
+
+  inline int8_t makeData(unsigned int mx, unsigned int my)
+  {
+    return mx + (my - 1) * width_ + 1;
+  }
+
+private:
+  const unsigned int width_;
+  const unsigned int height_;
+};  // TestMask
+
+class TestNode : public ::testing::Test
+{
+public:
+  TestNode() {}
+
+  ~TestNode() {}
+
+protected:
+  void createMaps(const std::string & mask_frame);
+  void publishMaps(uint8_t type, double base, double multiplier);
+  void rePublishInfo(uint8_t type, double base, double multiplier);
+  void rePublishMask();
+  bool createSpeedFilter(const std::string & global_frame);
+  void createTFBroadcaster(const std::string & mask_frame, const std::string & global_frame);
+  void publishTransform();
+
+  // Test methods
+  void testFullMask(
+    uint8_t type, double base, double multiplier,
+    double tr_x, double tr_y);
+  void testSimpleMask(
+    uint8_t type, double base, double multiplier,
+    double tr_x, double tr_y);
+  void testOutOfMask(uint8_t type, double base, double multiplier);
+  void testIncorrectPercentage(uint8_t type, double base, double multiplier);
+
+  void reset();
+
+  std::shared_ptr<nav2_costmap_2d::SpeedFilter> speed_filter_;
+  std::shared_ptr<nav2_costmap_2d::Costmap2D> master_grid_;
+
+private:
+  void waitSome(const std::chrono::nanoseconds & duration);
+  void verifySpeedLimit(
+    uint8_t type, double base, double multiplier,
+    unsigned int x, unsigned int y,
+    nav2_msgs::msg::SpeedLimit::SharedPtr speed_limit);
+  nav2_msgs::msg::SpeedLimit::SharedPtr getSpeedLimit();
+  nav2_msgs::msg::SpeedLimit::SharedPtr waitSpeedLimit();
+
+  const unsigned int width_ = 10;
+  const unsigned int height_ = 11;
+  const double resolution_ = 1.0;
+
+  nav2_util::LifecycleNode::SharedPtr node_;
+
+  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
+  std::unique_ptr<geometry_msgs::msg::TransformStamped> transform_;
+
+  std::shared_ptr<TestMask> mask_;
+
+  std::shared_ptr<InfoPublisher> info_publisher_;
+  std::shared_ptr<MaskPublisher> mask_publisher_;
+  std::shared_ptr<SpeedLimitSubscriber> speed_limit_subscriber_;
+};
+
+void TestNode::createMaps(const std::string & mask_frame)
+{
+  // Make map and mask put as follows:
+  //  master_grid     (12,13)
+  //    *----------------*
+  //    |                |
+  //    |  mask  (10,11) |
+  //    |   *-------*    |
+  //    |   |///////|    |
+  //    |   |///////|    |
+  //    |   |///////|    |
+  //    |   *-------*    |
+  //    | (0,0)          |
+  //    |                |
+  //    *----------------*
+  // (-2,-2)
+
+  // Create master_grid_
+  master_grid_ = std::make_shared<nav2_costmap_2d::Costmap2D>(
+    width_ + 4, height_ + 4, resolution_, -2.0, -2.0, nav2_costmap_2d::FREE_SPACE);
+
+  // Create mask_
+  mask_ = std::make_shared<TestMask>(width_, height_, resolution_, mask_frame);
+}
+
+void TestNode::publishMaps(uint8_t type, double base, double multiplier)
+{
+  info_publisher_ = std::make_shared<InfoPublisher>(type, base, multiplier);
+  mask_publisher_ = std::make_shared<MaskPublisher>(*mask_);
+}
+
+void TestNode::rePublishInfo(uint8_t type, double base, double multiplier)
+{
+  info_publisher_.reset();
+  info_publisher_ = std::make_shared<InfoPublisher>(type, base, multiplier);
+  // Allow both CostmapFilterInfo and filter mask subscribers
+  // to receive a new message
+  waitSome(100ms);
+}
+
+void TestNode::rePublishMask()
+{
+  mask_publisher_.reset();
+  mask_publisher_ = std::make_shared<MaskPublisher>(*mask_);
+  // Allow filter mask subscriber to receive a new message
+  waitSome(100ms);
+}
+
+nav2_msgs::msg::SpeedLimit::SharedPtr TestNode::getSpeedLimit()
+{
+  std::this_thread::sleep_for(100ms);
+  rclcpp::spin_some(speed_limit_subscriber_);
+  return speed_limit_subscriber_->getSpeedLimit();
+}
+
+nav2_msgs::msg::SpeedLimit::SharedPtr TestNode::waitSpeedLimit()
+{
+  const std::chrono::nanoseconds timeout = 500ms;
+
+  rclcpp::Time start_time = node_->now();
+  speed_limit_subscriber_->resetSpeedLimitIndicator();
+  while (rclcpp::ok() && node_->now() - start_time <= rclcpp::Duration(timeout)) {
+    if (speed_limit_subscriber_->speedLimitUpdated()) {
+      speed_limit_subscriber_->resetSpeedLimitIndicator();
+      return speed_limit_subscriber_->getSpeedLimit();
+    }
+    rclcpp::spin_some(speed_limit_subscriber_);
+    std::this_thread::sleep_for(10ms);
+  }
+  return nullptr;
+}
+
+void TestNode::waitSome(const std::chrono::nanoseconds & duration)
+{
+  rclcpp::Time start_time = node_->now();
+  while (rclcpp::ok() && node_->now() - start_time <= rclcpp::Duration(duration)) {
+    rclcpp::spin_some(node_->get_node_base_interface());
+    rclcpp::spin_some(speed_limit_subscriber_);
+    std::this_thread::sleep_for(10ms);
+  }
+}
+
+bool TestNode::createSpeedFilter(const std::string & global_frame)
+{
+  node_ = std::make_shared<nav2_util::LifecycleNode>("test_node");
+  tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node_->get_clock());
+  tf_buffer_->setUsingDedicatedThread(true);  // One-thread broadcasting-listening model
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
+
+  nav2_costmap_2d::LayeredCostmap layers(global_frame, false, false);
+
+  node_->declare_parameter(
+    FILTER_NAME + ".transform_tolerance", rclcpp::ParameterValue(0.5));
+  node_->set_parameter(
+    rclcpp::Parameter(FILTER_NAME + ".transform_tolerance", 0.5));
+  node_->declare_parameter(
+    FILTER_NAME + ".filter_info_topic", rclcpp::ParameterValue(INFO_TOPIC));
+  node_->set_parameter(
+    rclcpp::Parameter(FILTER_NAME + ".filter_info_topic", INFO_TOPIC));
+  node_->declare_parameter(
+    FILTER_NAME + ".speed_limit_topic", rclcpp::ParameterValue(SPEED_LIMIT_TOPIC));
+  node_->set_parameter(
+    rclcpp::Parameter(FILTER_NAME + ".speed_limit_topic", SPEED_LIMIT_TOPIC));
+
+  speed_filter_ = std::make_shared<nav2_costmap_2d::SpeedFilter>();
+  speed_filter_->initialize(&layers, FILTER_NAME, tf_buffer_.get(), node_, nullptr, nullptr);
+  speed_filter_->initializeFilter(INFO_TOPIC);
+
+  speed_limit_subscriber_ = std::make_shared<SpeedLimitSubscriber>(SPEED_LIMIT_TOPIC);
+
+  // Wait until mask will be received by SpeedFilter
+  const std::chrono::nanoseconds timeout = 500ms;
+  rclcpp::Time start_time = node_->now();
+  while (!speed_filter_->isActive()) {
+    if (node_->now() - start_time > rclcpp::Duration(timeout)) {
+      return false;
+    }
+    rclcpp::spin_some(node_->get_node_base_interface());
+    std::this_thread::sleep_for(10ms);
+  }
+  return true;
+}
+
+void TestNode::createTFBroadcaster(const std::string & mask_frame, const std::string & global_frame)
+{
+  tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node_);
+
+  transform_ = std::make_unique<geometry_msgs::msg::TransformStamped>();
+  transform_->header.frame_id = mask_frame;
+  transform_->child_frame_id = global_frame;
+
+  transform_->header.stamp = node_->now() + rclcpp::Duration(100ms);
+  transform_->transform.translation.x = TRANSLATION_X;
+  transform_->transform.translation.y = TRANSLATION_Y;
+  transform_->transform.translation.z = 0.0;
+  transform_->transform.rotation.x = 0.0;
+  transform_->transform.rotation.y = 0.0;
+  transform_->transform.rotation.z = 0.0;
+  transform_->transform.rotation.w = 1.0;
+
+  tf_broadcaster_->sendTransform(*transform_);
+
+  // Allow tf_buffer_ to be filled by listener
+  waitSome(100ms);
+}
+
+void TestNode::publishTransform()
+{
+  if (tf_broadcaster_) {
+    transform_->header.stamp = node_->now() + rclcpp::Duration(100ms);
+    tf_broadcaster_->sendTransform(*transform_);
+  }
+}
+
+void TestNode::verifySpeedLimit(
+  uint8_t type, double base, double multiplier,
+  unsigned int x, unsigned int y,
+  nav2_msgs::msg::SpeedLimit::SharedPtr speed_limit)
+{
+  int8_t cost = mask_->makeData(x, y);
+  // expected_limit is being calculated by using float32 base and multiplier
+  double expected_limit = cost * multiplier + base;
+  if (type == nav2_costmap_2d::SPEED_FILTER_PERCENT) {
+    if (expected_limit < 0.0) {
+      expected_limit = nav2_costmap_2d::NO_SPEED_LIMIT;
+    }
+    if (expected_limit > 100.0) {
+      expected_limit = 100.0;
+    }
+    EXPECT_TRUE(speed_limit->percentage);
+    EXPECT_TRUE(speed_limit->speed_limit >= 0.0);
+    EXPECT_TRUE(speed_limit->speed_limit <= 100.0);
+    EXPECT_NEAR(speed_limit->speed_limit, expected_limit, EPSILON);
+  } else {
+    FAIL() << "The type of costmap filter is unknown";
+  }
+}
+
+void TestNode::testFullMask(
+  uint8_t type, double base, double multiplier,
+  double tr_x, double tr_y)
+{
+  const int min_i = 0;
+  const int min_j = 0;
+  const int max_i = width_ + 4;
+  const int max_j = height_ + 4;
+
+  geometry_msgs::msg::Pose2D pose;
+  nav2_msgs::msg::SpeedLimit::SharedPtr speed_limit;
+
+  // data = 0
+  pose.x = 1 - tr_x;
+  pose.y = -tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = getSpeedLimit();
+  ASSERT_TRUE(speed_limit == nullptr);
+
+  // data in range [1..100]
+  unsigned int x, y;
+  for (y = 1; y < height_; y++) {
+    for (x = 0; x < width_; x++) {
+      pose.x = x - tr_x;
+      pose.y = y - tr_y;
+      publishTransform();
+      speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+      speed_limit = waitSpeedLimit();
+      ASSERT_TRUE(speed_limit != nullptr);
+      verifySpeedLimit(type, base, multiplier, x, y, speed_limit);
+    }
+  }
+
+  // data = 0
+  pose.x = 1 - tr_x;
+  pose.y = -tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = waitSpeedLimit();
+  ASSERT_TRUE(speed_limit != nullptr);
+  EXPECT_EQ(speed_limit->speed_limit, nav2_costmap_2d::NO_SPEED_LIMIT);
+
+  // data = -1
+  pose.x = -tr_x;
+  pose.y = -tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = getSpeedLimit();
+  ASSERT_TRUE(speed_limit != nullptr);
+  EXPECT_EQ(speed_limit->speed_limit, nav2_costmap_2d::NO_SPEED_LIMIT);
+}
+
+void TestNode::testSimpleMask(
+  uint8_t type, double base, double multiplier,
+  double tr_x, double tr_y)
+{
+  const int min_i = 0;
+  const int min_j = 0;
+  const int max_i = width_ + 4;
+  const int max_j = height_ + 4;
+
+  geometry_msgs::msg::Pose2D pose;
+  nav2_msgs::msg::SpeedLimit::SharedPtr speed_limit;
+
+  // data = 0
+  pose.x = 1 - tr_x;
+  pose.y = -tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = getSpeedLimit();
+  ASSERT_TRUE(speed_limit == nullptr);
+
+  // data = <some_middle_value>
+  unsigned int x = width_ / 2 - 1;
+  unsigned int y = height_ / 2 - 1;
+  pose.x = x - tr_x;
+  pose.y = y - tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = waitSpeedLimit();
+  ASSERT_TRUE(speed_limit != nullptr);
+  verifySpeedLimit(type, base, multiplier, x, y, speed_limit);
+
+  // data = 100
+  x = width_ - 1;
+  y = height_ - 1;
+  pose.x = x - tr_x;
+  pose.y = y - tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = waitSpeedLimit();
+  ASSERT_TRUE(speed_limit != nullptr);
+  verifySpeedLimit(type, base, multiplier, x, y, speed_limit);
+
+  // data = 0
+  pose.x = 1 - tr_x;
+  pose.y = -tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = waitSpeedLimit();
+  ASSERT_TRUE(speed_limit != nullptr);
+  EXPECT_EQ(speed_limit->speed_limit, nav2_costmap_2d::NO_SPEED_LIMIT);
+
+  // data = -1
+  pose.x = -tr_x;
+  pose.y = -tr_y;
+  publishTransform();
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = getSpeedLimit();
+  ASSERT_TRUE(speed_limit != nullptr);
+  EXPECT_EQ(speed_limit->speed_limit, nav2_costmap_2d::NO_SPEED_LIMIT);
+}
+
+void TestNode::testOutOfMask(uint8_t type, double base, double multiplier)
+{
+  const int min_i = 0;
+  const int min_j = 0;
+  const int max_i = width_ + 4;
+  const int max_j = height_ + 4;
+
+  geometry_msgs::msg::Pose2D pose;
+  nav2_msgs::msg::SpeedLimit::SharedPtr old_speed_limit, speed_limit;
+
+  // data = <some_middle_value>
+  pose.x = width_ / 2 - 1;
+  pose.y = height_ / 2 - 1;
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  old_speed_limit = waitSpeedLimit();
+  ASSERT_TRUE(old_speed_limit != nullptr);
+  verifySpeedLimit(type, base, multiplier, pose.x, pose.y, old_speed_limit);
+
+  // Then go to out of mask bounds and ensure that speed limit was not updated
+  pose.x = -2.0;
+  pose.y = -2.0;
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = getSpeedLimit();
+  ASSERT_TRUE(speed_limit == old_speed_limit);
+
+  pose.x = width_ + 1.0;
+  pose.y = height_ + 1.0;
+  speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+  speed_limit = getSpeedLimit();
+  ASSERT_TRUE(speed_limit == old_speed_limit);
+}
+
+void TestNode::testIncorrectPercentage(uint8_t type, double base, double multiplier)
+{
+  const int min_i = 0;
+  const int min_j = 0;
+  const int max_i = width_ + 4;
+  const int max_j = height_ + 4;
+
+  geometry_msgs::msg::Pose2D pose;
+  nav2_msgs::msg::SpeedLimit::SharedPtr speed_limit;
+
+  std::vector<std::tuple<unsigned int, unsigned int>> points;
+
+  // Some middle point corresponding to correct percentage
+  points.push_back(std::make_tuple(width_ / 2 - 1, height_ / 2 - 1));
+  // (0, 1) point corresponding to incorrect percentage: data = 1, percentage < 0%
+  points.push_back(std::make_tuple(0, 1));
+  // Some middle point corresponding to correct percentage
+  points.push_back(std::make_tuple(width_ / 2 - 1, height_ / 2 - 1));
+  // (width_ - 1, height_ - 1) point corresponding to incorrect percentage:
+  // data = 100, percentage > 100%
+  points.push_back(std::make_tuple(width_ - 1, height_ - 1));
+
+  for (auto it = points.begin(); it != points.end(); ++it) {
+    pose.x = static_cast<double>(std::get<0>(*it));
+    pose.y = static_cast<double>(std::get<1>(*it));
+    speed_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
+    speed_limit = waitSpeedLimit();
+    ASSERT_TRUE(speed_limit != nullptr);
+    verifySpeedLimit(type, base, multiplier, pose.x, pose.y, speed_limit);
+  }
+}
+
+void TestNode::reset()
+{
+  mask_.reset();
+  master_grid_.reset();
+  info_publisher_.reset();
+  mask_publisher_.reset();
+  speed_limit_subscriber_.reset();
+  speed_filter_.reset();
+  node_.reset();
+  tf_listener_.reset();
+  tf_broadcaster_.reset();
+  tf_buffer_.reset();
+}
+
+TEST_F(TestNode, testPercentSpeedLimit)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0);
+  EXPECT_TRUE(createSpeedFilter("map"));
+
+  // Test SpeedFilter
+  testFullMask(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0, NO_TRANSLATION, NO_TRANSLATION);
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+TEST_F(TestNode, testIncorrectPercentSpeedLimit)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, -50.0, 2.0);
+  EXPECT_TRUE(createSpeedFilter("map"));
+
+  // Test SpeedFilter
+  testIncorrectPercentage(nav2_costmap_2d::SPEED_FILTER_PERCENT, -50.0, 2.0);
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+TEST_F(TestNode, testAbsoluteSpeedLimit)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(nav2_costmap_2d::SPEED_FILTER_ABSOLUTE, -1.23, 4.5);
+  EXPECT_FALSE(createSpeedFilter("map"));
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+TEST_F(TestNode, testOutOfBounds)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0);
+  EXPECT_TRUE(createSpeedFilter("map"));
+
+  // Test SpeedFilter
+  testOutOfMask(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0);
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+TEST_F(TestNode, testInfoRePublish)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 1.2, 3.4);
+  EXPECT_TRUE(createSpeedFilter("map"));
+
+  // Re-publish filter info (with incorrect base and multiplier)
+  // and test that everything is working after
+  rePublishInfo(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.1, 0.2);
+
+  // Test SpeedFilter
+  testSimpleMask(
+    nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.1, 0.2, NO_TRANSLATION, NO_TRANSLATION);
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+TEST_F(TestNode, testMaskRePublish)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.1, 0.2);
+  EXPECT_TRUE(createSpeedFilter("map"));
+
+  // Re-publish filter mask and test that everything is working after
+  rePublishMask();
+
+  // Test SpeedFilter
+  testSimpleMask(
+    nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.1, 0.2, NO_TRANSLATION, NO_TRANSLATION);
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+TEST_F(TestNode, testIncorrectFilterType)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(INCORRECT_TYPE, -1.23, 4.5);
+  EXPECT_FALSE(createSpeedFilter("map"));
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+TEST_F(TestNode, testDifferentFrame)
+{
+  // Initilize test system
+  createMaps("map");
+  publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0);
+  EXPECT_TRUE(createSpeedFilter("odom"));
+  createTFBroadcaster("map", "odom");
+
+  // Test SpeedFilter
+  testFullMask(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0, TRANSLATION_X, TRANSLATION_Y);
+
+  // Clean-up
+  speed_filter_->resetFilter();
+  reset();
+}
+
+int main(int argc, char ** argv)
+{
+  // Initialize the system
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+
+  // Actual testing
+  bool test_result = RUN_ALL_TESTS();
+
+  // Shutdown
+  rclcpp::shutdown();
+
+  return test_result;
+}
diff --git a/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp b/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
index b25fab39e4c..3b58a37882d 100644
--- a/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
+++ b/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
@@ -131,6 +131,17 @@ class DWBLocalPlanner : public nav2_core::Controller
     const nav_2d_msgs::msg::Twist2D & velocity,
     std::shared_ptr<dwb_msgs::msg::LocalPlanEvaluation> & results);
 
+  /**
+   * @brief Limits the maximum linear speed of the robot.
+   * @param speed_limit expressed in percentage from maximum robot speed.
+   */
+  void setSpeedLimit(const double & speed_limit) override
+  {
+    if (traj_generator_) {
+      traj_generator_->setSpeedLimit(speed_limit);
+    }
+  }
+
 protected:
   /**
    * @brief Helper method for two common operations for the operating on the global_plan
diff --git a/nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_generator.hpp b/nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_generator.hpp
index 6ce9d1bda5c..7965cd4b812 100644
--- a/nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_generator.hpp
+++ b/nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_generator.hpp
@@ -123,6 +123,12 @@ class TrajectoryGenerator
     const geometry_msgs::msg::Pose2D & start_pose,
     const nav_2d_msgs::msg::Twist2D & start_vel,
     const nav_2d_msgs::msg::Twist2D & cmd_vel) = 0;
+
+  /**
+   * @brief Limits the maximum linear speed of the robot.
+   * @param speed_limit expressed in percentage from maximum robot speed.
+   */
+  virtual void setSpeedLimit(const double & speed_limit) = 0;
 };
 
 }  // namespace dwb_core
diff --git a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.hpp b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.hpp
index b39e36b627b..f578d102533 100644
--- a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.hpp
+++ b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.hpp
@@ -80,9 +80,13 @@ struct KinematicParameters
   double min_vel_y_{0};
   double max_vel_x_{0};
   double max_vel_y_{0};
+  double base_max_vel_x_{0};
+  double base_max_vel_y_{0};
   double max_vel_theta_{0};
+  double base_max_vel_theta_{0};
   double min_speed_xy_{0};
   double max_speed_xy_{0};
+  double base_max_speed_xy_{0};
   double min_speed_theta_{0};
   double acc_lim_x_{0};
   double acc_lim_y_{0};
@@ -109,6 +113,8 @@ class KinematicsHandler
 
   inline KinematicParameters getKinematics() {return *kinematics_.load();}
 
+  void setSpeedLimit(const double & speed_limit);
+
   using Ptr = std::shared_ptr<KinematicsHandler>;
 
 protected:
diff --git a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/standard_traj_generator.hpp b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/standard_traj_generator.hpp
index ec380674d4e..87b293683fa 100644
--- a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/standard_traj_generator.hpp
+++ b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/standard_traj_generator.hpp
@@ -68,6 +68,17 @@ class StandardTrajectoryGenerator : public dwb_core::TrajectoryGenerator
     const nav_2d_msgs::msg::Twist2D & start_vel,
     const nav_2d_msgs::msg::Twist2D & cmd_vel) override;
 
+  /**
+   * @brief Limits the maximum linear speed of the robot.
+   * @param speed_limit expressed in percentage from maximum robot speed.
+   */
+  void setSpeedLimit(const double & speed_limit) override
+  {
+    if (kinematics_handler_) {
+      kinematics_handler_->setSpeedLimit(speed_limit);
+    }
+  }
+
 protected:
   /**
    * @brief Initialize the VelocityIterator pointer. Put in its own function for easy overriding
diff --git a/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp b/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
index 88e4cf1db4f..51a843318cd 100644
--- a/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
+++ b/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
@@ -39,6 +39,7 @@
 
 #include "nav_2d_utils/parameters.hpp"
 #include "nav2_util/node_utils.hpp"
+#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
 
 using nav2_util::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
@@ -107,6 +108,11 @@ void KinematicsHandler::initialize(
   nh->get_parameter(plugin_name + ".decel_lim_y", kinematics.decel_lim_y_);
   nh->get_parameter(plugin_name + ".decel_lim_theta", kinematics.decel_lim_theta_);
 
+  kinematics.base_max_vel_x_ = kinematics.max_vel_x_;
+  kinematics.base_max_vel_y_ = kinematics.max_vel_y_;
+  kinematics.base_max_speed_xy_ = kinematics.max_speed_xy_;
+  kinematics.base_max_vel_theta_ = kinematics.max_vel_theta_;
+
   // Setup callback for changes to parameters.
   parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
     nh->get_node_base_interface(),
@@ -123,6 +129,29 @@ void KinematicsHandler::initialize(
   update_kinematics(kinematics);
 }
 
+void KinematicsHandler::setSpeedLimit(const double & speed_limit)
+{
+  KinematicParameters kinematics(*kinematics_.load());
+
+  if (speed_limit == nav2_costmap_2d::NO_SPEED_LIMIT) {
+    // Restore default value
+    kinematics.max_speed_xy_ = kinematics.base_max_speed_xy_;
+    kinematics.max_vel_x_ = kinematics.base_max_vel_x_;
+    kinematics.max_vel_y_ = kinematics.base_max_vel_y_;
+    kinematics.max_vel_theta_ = kinematics.base_max_vel_theta_;
+  } else {
+    // Speed limit is expressed in % from maximum speed of robot
+    kinematics.max_speed_xy_ = kinematics.base_max_speed_xy_ * speed_limit / 100.0;
+    kinematics.max_vel_x_ = kinematics.base_max_vel_x_ * speed_limit / 100.0;
+    kinematics.max_vel_y_ = kinematics.base_max_vel_y_ * speed_limit / 100.0;
+    kinematics.max_vel_theta_ = kinematics.base_max_vel_theta_ * speed_limit / 100.0;
+  }
+
+  // Do not forget to update max_speed_xy_sq_ as well
+  kinematics.max_speed_xy_sq_ = kinematics.max_speed_xy_ * kinematics.max_speed_xy_;
+
+  update_kinematics(kinematics);
+}
 
 void
 KinematicsHandler::on_parameter_event_callback(
@@ -142,15 +171,19 @@ KinematicsHandler::on_parameter_event_callback(
         kinematics.min_vel_y_ = value.double_value;
       } else if (name == plugin_name_ + ".max_vel_x") {
         kinematics.max_vel_x_ = value.double_value;
+        kinematics.base_max_vel_x_ = kinematics.max_vel_x_;
       } else if (name == plugin_name_ + ".max_vel_y") {
         kinematics.max_vel_y_ = value.double_value;
+        kinematics.base_max_vel_y_ = kinematics.max_vel_y_;
       } else if (name == plugin_name_ + ".max_vel_theta") {
         kinematics.max_vel_theta_ = value.double_value;
+        kinematics.base_max_vel_theta_ = kinematics.max_vel_theta_;
       } else if (name == plugin_name_ + ".min_speed_xy") {
         kinematics.min_speed_xy_ = value.double_value;
         kinematics.min_speed_xy_sq_ = kinematics.min_speed_xy_ * kinematics.min_speed_xy_;
       } else if (name == plugin_name_ + ".max_speed_xy") {
         kinematics.max_speed_xy_ = value.double_value;
+        kinematics.base_max_speed_xy_ = kinematics.max_speed_xy_;
       } else if (name == plugin_name_ + ".min_speed_theta") {
         kinematics.min_speed_theta_ = value.double_value;
         kinematics.max_speed_xy_sq_ = kinematics.max_speed_xy_ * kinematics.max_speed_xy_;
diff --git a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
index f7eb628de26..c5b9308e8dc 100644
--- a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
@@ -5,3 +5,6 @@ target_link_libraries(twist_gen_test standard_traj_generator)
 
 ament_add_gtest(kinematic_parameters_test kinematic_parameters_test.cpp)
 target_link_libraries(kinematic_parameters_test standard_traj_generator)
+
+ament_add_gtest(speed_limit_test speed_limit_test.cpp)
+target_link_libraries(speed_limit_test standard_traj_generator)
diff --git a/nav2_dwb_controller/dwb_plugins/test/speed_limit_test.cpp b/nav2_dwb_controller/dwb_plugins/test/speed_limit_test.cpp
new file mode 100644
index 00000000000..f6f07ded491
--- /dev/null
+++ b/nav2_dwb_controller/dwb_plugins/test/speed_limit_test.cpp
@@ -0,0 +1,139 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, Samsung Research Russia
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Alexey Merzlyakov
+ */
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_util/lifecycle_node.hpp"
+#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
+
+#include "dwb_plugins/kinematic_parameters.hpp"
+
+using namespace std::chrono_literals;
+
+static constexpr double EPSILON = 1e-5;
+
+static const char NODE_NAME[] = "test_node";
+static const double MAX_VEL_X = 40.0;
+static const double MAX_VEL_Y = 30.0;
+static const double MAX_VEL_THETA = 15.0;
+static const double MAX_VEL_LINEAR = 50.0;
+
+class TestNode : public ::testing::Test
+{
+public:
+  TestNode()
+  {
+    const std::string node_name = NODE_NAME;
+    node_ = nav2_util::LifecycleNode::make_shared(node_name);
+
+    node_->declare_parameter(
+      node_name + ".max_vel_x", rclcpp::ParameterValue(MAX_VEL_X));
+    node_->set_parameter(
+      rclcpp::Parameter(node_name + ".max_vel_x", MAX_VEL_X));
+
+    node_->declare_parameter(
+      node_name + ".max_vel_y", rclcpp::ParameterValue(MAX_VEL_Y));
+    node_->set_parameter(
+      rclcpp::Parameter(node_name + ".max_vel_y", MAX_VEL_Y));
+
+    node_->declare_parameter(
+      node_name + ".max_vel_theta", rclcpp::ParameterValue(MAX_VEL_THETA));
+    node_->set_parameter(
+      rclcpp::Parameter(node_name + ".max_vel_theta", MAX_VEL_THETA));
+
+    node_->declare_parameter(
+      node_name + ".max_speed_xy", rclcpp::ParameterValue(MAX_VEL_LINEAR));
+    node_->set_parameter(
+      rclcpp::Parameter(node_name + ".max_speed_xy", MAX_VEL_LINEAR));
+  }
+
+  ~TestNode() {}
+
+protected:
+  nav2_util::LifecycleNode::SharedPtr node_;
+};
+
+TEST_F(TestNode, TestPercentLimit)
+{
+  dwb_plugins::KinematicsHandler kh;
+  kh.initialize(node_, NODE_NAME);
+
+  dwb_plugins::KinematicParameters kp = kh.getKinematics();
+  EXPECT_NEAR(kp.getMaxX(), MAX_VEL_X, EPSILON);
+  EXPECT_NEAR(kp.getMaxY(), MAX_VEL_Y, EPSILON);
+  EXPECT_NEAR(kp.getMaxTheta(), MAX_VEL_THETA, EPSILON);
+  EXPECT_NEAR(kp.getMaxSpeedXY(), MAX_VEL_LINEAR, EPSILON);
+
+  // Set speed limit 30% from maximum robot speed
+  kh.setSpeedLimit(30);
+
+  // Update KinematicParameters values from KinematicsHandler
+  kp = kh.getKinematics();
+  EXPECT_NEAR(kp.getMaxX(), MAX_VEL_X * 0.3, EPSILON);
+  EXPECT_NEAR(kp.getMaxY(), MAX_VEL_Y * 0.3, EPSILON);
+  EXPECT_NEAR(kp.getMaxTheta(), MAX_VEL_THETA * 0.3, EPSILON);
+  EXPECT_NEAR(kp.getMaxSpeedXY(), MAX_VEL_LINEAR * 0.3, EPSILON);
+
+  // Restore maximum speed to its default
+  kh.setSpeedLimit(nav2_costmap_2d::NO_SPEED_LIMIT);
+
+  // Update KinematicParameters values from KinematicsHandler
+  kp = kh.getKinematics();
+  EXPECT_NEAR(kp.getMaxX(), MAX_VEL_X, EPSILON);
+  EXPECT_NEAR(kp.getMaxY(), MAX_VEL_Y, EPSILON);
+  EXPECT_NEAR(kp.getMaxTheta(), MAX_VEL_THETA, EPSILON);
+  EXPECT_NEAR(kp.getMaxSpeedXY(), MAX_VEL_LINEAR, EPSILON);
+}
+
+int main(int argc, char ** argv)
+{
+  // Initialize the system
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+
+  // Actual testing
+  bool test_result = RUN_ALL_TESTS();
+
+  // Shutdown
+  rclcpp::shutdown();
+
+  return test_result;
+}
diff --git a/nav2_map_server/src/costmap_filter_info/costmap_filter_info_server.cpp b/nav2_map_server/src/costmap_filter_info/costmap_filter_info_server.cpp
index 4f1702089b2..7b1c618315d 100644
--- a/nav2_map_server/src/costmap_filter_info/costmap_filter_info_server.cpp
+++ b/nav2_map_server/src/costmap_filter_info/costmap_filter_info_server.cpp
@@ -49,10 +49,12 @@ CostmapFilterInfoServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
     filter_info_topic, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
 
   msg_ = std::make_unique<nav2_msgs::msg::CostmapFilterInfo>();
+  msg_->header.frame_id = "";
+  msg_->header.stamp = now();
   msg_->type = get_parameter("type").as_int();
   msg_->filter_mask_topic = get_parameter("mask_topic").as_string();
-  msg_->base = get_parameter("base").as_double();
-  msg_->multiplier = get_parameter("multiplier").as_double();
+  msg_->base = static_cast<float>(get_parameter("base").as_double());
+  msg_->multiplier = static_cast<float>(get_parameter("multiplier").as_double());
 
   return nav2_util::CallbackReturn::SUCCESS;
 }
diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
index d09cafa74cf..0891844443b 100644
--- a/nav2_msgs/CMakeLists.txt
+++ b/nav2_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Costmap.msg"
   "msg/CostmapMetaData.msg"
   "msg/CostmapFilterInfo.msg"
+  "msg/SpeedLimit.msg"
   "msg/VoxelGrid.msg"
   "msg/BehaviorTreeStatusChange.msg"
   "msg/BehaviorTreeLog.msg"
diff --git a/nav2_msgs/msg/CostmapFilterInfo.msg b/nav2_msgs/msg/CostmapFilterInfo.msg
index 48410794528..c020d3d3a59 100644
--- a/nav2_msgs/msg/CostmapFilterInfo.msg
+++ b/nav2_msgs/msg/CostmapFilterInfo.msg
@@ -1,5 +1,8 @@
 std_msgs/Header header
 # Type of plugin used (keepout filter, speed limit in m/s, speed limit in percent, etc...)
+# 0: keepout/lanes filter
+# 1: speed limit filter in % of maximum speed
+# 2: speed limit filter in absolute values
 uint8 type
 # Name of filter mask topic
 string filter_mask_topic
diff --git a/nav2_msgs/msg/SpeedLimit.msg b/nav2_msgs/msg/SpeedLimit.msg
new file mode 100644
index 00000000000..ea9630fc91e
--- /dev/null
+++ b/nav2_msgs/msg/SpeedLimit.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+# Setting speed limit in percentage if true or in absolute values in false case
+bool percentage
+# Maximum allowed speed (in percent of maximum robot speed or in m/s depending
+# on "percentage" value). When no-limit it is set to 0.0
+float64 speed_limit
diff --git a/nav2_system_tests/maps/speed_mask.pgm b/nav2_system_tests/maps/speed_mask.pgm
new file mode 100644
index 00000000000..c5e9d4e8d2c
--- /dev/null
+++ b/nav2_system_tests/maps/speed_mask.pgm
@@ -0,0 +1,5 @@
+P5
+# Created by GIMP version 2.10.18 PNM plug-in
+384 384
+255
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ΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝΝ
\ No newline at end of file
diff --git a/nav2_system_tests/maps/speed_mask.yaml b/nav2_system_tests/maps/speed_mask.yaml
new file mode 100644
index 00000000000..e32df2e6beb
--- /dev/null
+++ b/nav2_system_tests/maps/speed_mask.yaml
@@ -0,0 +1,7 @@
+image: speed_mask.pgm
+mode: scale
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.99
+free_thresh: 0.01
diff --git a/nav2_system_tests/src/costmap_filters/CMakeLists.txt b/nav2_system_tests/src/costmap_filters/CMakeLists.txt
index 446b15430b0..a8cdcfe4352 100644
--- a/nav2_system_tests/src/costmap_filters/CMakeLists.txt
+++ b/nav2_system_tests/src/costmap_filters/CMakeLists.txt
@@ -12,3 +12,35 @@ ament_add_test(test_keepout_filter
     BT_NAVIGATOR_XML=navigate_w_replanning_and_recovery.xml
     ASTAR=False
 )
+
+ament_add_test(test_speed_filter_global
+  GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_speed_launch.py"
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  TIMEOUT 180
+  ENV
+    TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
+    TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
+    TEST_MASK=${PROJECT_SOURCE_DIR}/maps/speed_mask.yaml
+    TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
+    PARAMS_FILE=${CMAKE_CURRENT_SOURCE_DIR}/speed_global_params.yaml
+    GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
+    BT_NAVIGATOR_XML=navigate_w_replanning_and_recovery.xml
+    ASTAR=False
+)
+
+ament_add_test(test_speed_filter_local
+  GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_speed_launch.py"
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  TIMEOUT 180
+  ENV
+    TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
+    TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
+    TEST_MASK=${PROJECT_SOURCE_DIR}/maps/speed_mask.yaml
+    TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
+    PARAMS_FILE=${CMAKE_CURRENT_SOURCE_DIR}/speed_local_params.yaml
+    GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
+    BT_NAVIGATOR_XML=navigate_w_replanning_and_recovery.xml
+    ASTAR=False
+)
diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
new file mode 100644
index 00000000000..345424a8733
--- /dev/null
+++ b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
@@ -0,0 +1,323 @@
+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "beam"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "differential"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+
+amcl_map_client:
+  ros__parameters:
+    use_sim_time: True
+
+amcl_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom
+    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    plugin_lib_names:
+    - nav2_compute_path_to_pose_action_bt_node
+    - nav2_follow_path_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_spin_action_bt_node
+    - nav2_wait_action_bt_node
+    - nav2_clear_costmap_service_bt_node
+    - nav2_is_stuck_condition_bt_node
+    - nav2_goal_reached_condition_bt_node
+    - nav2_goal_updated_condition_bt_node
+    - nav2_initial_pose_received_condition_bt_node
+    - nav2_reinitialize_global_localization_service_bt_node
+    - nav2_rate_controller_bt_node
+    - nav2_distance_controller_bt_node
+    - nav2_speed_controller_bt_node
+    - nav2_truncate_path_action_bt_node
+    - nav2_goal_updater_node_bt_node
+    - nav2_recovery_node_bt_node
+    - nav2_pipeline_sequence_bt_node
+    - nav2_round_robin_node_bt_node
+    - nav2_transform_available_condition_bt_node
+    - nav2_time_expired_condition_bt_node
+    - nav2_distance_traveled_condition_bt_node
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    speed_limit_topic: "/speed_limit"
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugin: "goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+      stateful: True
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 0.26
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.26
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 2.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+      static_layer:
+        map_subscribe_transient_local: True
+      speed_filter:
+        plugin: "nav2_costmap_2d::SpeedFilter"
+        enabled: True
+        filter_info_topic: "/costmap_filter_info"
+        speed_limit_topic: "/speed_limit"
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      robot_radius: 0.22
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer", "speed_filter"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      speed_filter:
+        plugin: "nav2_costmap_2d::SpeedFilter"
+        enabled: True
+        filter_info_topic: "/costmap_filter_info"
+        speed_limit_topic: "/speed_limit"
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    yaml_filename: "turtlebot3_world.yaml"
+
+map_saver:
+  ros__parameters:
+    use_sim_time: True
+    save_map_timeout: 5000
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    use_sim_time: True
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_navfn_planner/NavfnPlanner"
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+recoveries_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    recovery_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_recoveries/Spin"
+    backup:
+      plugin: "nav2_recoveries/BackUp"
+    wait:
+      plugin: "nav2_recoveries/Wait"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_timeout: 0.1
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "waypoint_task_executor"
+    waypoint_task_executor:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 0
+
+costmap_filter_info_server:
+  ros__parameters:
+    use_sim_time: true
+    type: 1
+    filter_info_topic: "/costmap_filter_info"
+    mask_topic: "/filter_mask"
+    base: 100.0
+    multiplier: -1.0
+
+filter_mask_server:
+  ros__parameters:
+    use_sim_time: true
+    frame_id: "map"
+    topic_name: "/filter_mask"
+    yaml_filename: "speed_mask.yaml"
diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
new file mode 100644
index 00000000000..96dc6383367
--- /dev/null
+++ b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
@@ -0,0 +1,318 @@
+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "beam"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "differential"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+
+amcl_map_client:
+  ros__parameters:
+    use_sim_time: True
+
+amcl_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom
+    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    plugin_lib_names:
+    - nav2_compute_path_to_pose_action_bt_node
+    - nav2_follow_path_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_spin_action_bt_node
+    - nav2_wait_action_bt_node
+    - nav2_clear_costmap_service_bt_node
+    - nav2_is_stuck_condition_bt_node
+    - nav2_goal_reached_condition_bt_node
+    - nav2_goal_updated_condition_bt_node
+    - nav2_initial_pose_received_condition_bt_node
+    - nav2_reinitialize_global_localization_service_bt_node
+    - nav2_rate_controller_bt_node
+    - nav2_distance_controller_bt_node
+    - nav2_speed_controller_bt_node
+    - nav2_truncate_path_action_bt_node
+    - nav2_goal_updater_node_bt_node
+    - nav2_recovery_node_bt_node
+    - nav2_pipeline_sequence_bt_node
+    - nav2_round_robin_node_bt_node
+    - nav2_transform_available_condition_bt_node
+    - nav2_time_expired_condition_bt_node
+    - nav2_distance_traveled_condition_bt_node
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    speed_limit_topic: "/speed_limit"
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugin: "goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+      stateful: True
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 0.26
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.26
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 2.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      plugins: ["voxel_layer", "inflation_layer", "speed_filter"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+      static_layer:
+        map_subscribe_transient_local: True
+      speed_filter:
+        plugin: "nav2_costmap_2d::SpeedFilter"
+        enabled: True
+        filter_info_topic: "/costmap_filter_info"
+        speed_limit_topic: "/speed_limit"
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      robot_radius: 0.22
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    yaml_filename: "turtlebot3_world.yaml"
+
+map_saver:
+  ros__parameters:
+    use_sim_time: True
+    save_map_timeout: 5000
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    use_sim_time: True
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_navfn_planner/NavfnPlanner"
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+recoveries_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    recovery_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_recoveries/Spin"
+    backup:
+      plugin: "nav2_recoveries/BackUp"
+    wait:
+      plugin: "nav2_recoveries/Wait"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_timeout: 0.1
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "waypoint_task_executor"
+    waypoint_task_executor:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 0
+
+costmap_filter_info_server:
+  ros__parameters:
+    use_sim_time: true
+    type: 1
+    filter_info_topic: "/costmap_filter_info"
+    mask_topic: "/filter_mask"
+    base: 100.0
+    multiplier: -1.0
+
+filter_mask_server:
+  ros__parameters:
+    use_sim_time: true
+    frame_id: "map"
+    topic_name: "/filter_mask"
+    yaml_filename: "speed_mask.yaml"
diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
index bc9c86900c2..63727519643 100755
--- a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
+++ b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
@@ -118,7 +118,7 @@ def main(argv=sys.argv[1:]):
 
     test1_action = ExecuteProcess(
         cmd=[os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'),
-             '-r', '-2.0', '-0.5', '0.0', '-0.5'],
+             '-t', 'keepout', '-r', '-2.0', '-0.5', '0.0', '-0.5'],
         name='tester_node',
         output='screen')
 
diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
new file mode 100755
index 00000000000..6e52142261f
--- /dev/null
+++ b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2018 Intel Corporation
+# Copyright (c) 2020 Samsung Research Russia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import sys
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from launch_testing.legacy import LaunchTestService
+
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    map_yaml_file = os.getenv('TEST_MAP')
+    filter_mask_file = os.getenv('TEST_MASK')
+    world = os.getenv('TEST_WORLD')
+
+    bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'),
+                                    'behavior_trees',
+                                    os.getenv('BT_NAVIGATOR_XML'))
+
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    params_file = os.getenv('PARAMS_FILE')
+
+    # Replace the `use_astar` setting on the params file
+    param_substitutions = {
+        'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'),
+        'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file,
+        'yaml_filename': filter_mask_file}
+    configured_params = RewrittenYaml(
+        source_file=params_file,
+        root_key='',
+        param_rewrites=param_substitutions,
+        convert_types=True)
+
+    return LaunchDescription([
+        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+
+        # Launch gazebo server for simulation
+        ExecuteProcess(
+            cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
+                 '--minimal_comms', world],
+            output='screen'),
+
+        # TODO(orduno) Launch the robot state publisher instead
+        #              using a local copy of TB3 urdf file
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            output='screen',
+            arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
+
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            output='screen',
+            arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
+
+        Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager_filters',
+            output='screen',
+            parameters=[{'node_names': ['filter_mask_server', 'costmap_filter_info_server']},
+                        {'autostart': True}]),
+
+        # Nodes required for Costmap Filters configuration
+        Node(
+            package='nav2_map_server',
+            executable='map_server',
+            name='filter_mask_server',
+            output='screen',
+            parameters=[configured_params]),
+
+        Node(
+            package='nav2_map_server',
+            executable='costmap_filter_info_server',
+            name='costmap_filter_info_server',
+            output='screen',
+            parameters=[configured_params]),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
+            launch_arguments={'namespace': '',
+                              'use_namespace': 'False',
+                              'map': map_yaml_file,
+                              'use_sim_time': 'True',
+                              'params_file': configured_params,
+                              'bt_xml_file': bt_navigator_xml,
+                              'autostart': 'True'}.items()),
+    ])
+
+
+def main(argv=sys.argv[1:]):
+    ld = generate_launch_description()
+
+    test1_action = ExecuteProcess(
+        cmd=[os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'),
+             '-t', 'speed', '-r', '-2.0', '-0.5', '0.0', '-0.5'],
+        name='tester_node',
+        output='screen')
+
+    lts = LaunchTestService()
+    lts.add_test_action(ld, test1_action)
+    ls = LaunchService(argv=argv)
+    ls.include_launch_description(ld)
+    return lts.run(ls)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/nav2_system_tests/src/costmap_filters/tester_node.py b/nav2_system_tests/src/costmap_filters/tester_node.py
index 7fedde11264..14a601adb62 100755
--- a/nav2_system_tests/src/costmap_filters/tester_node.py
+++ b/nav2_system_tests/src/costmap_filters/tester_node.py
@@ -16,6 +16,7 @@
 # limitations under the License.
 
 import argparse
+from enum import Enum
 import math
 import sys
 import time
@@ -27,6 +28,7 @@
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from lifecycle_msgs.srv import GetState
 from nav2_msgs.action import NavigateToPose
+from nav2_msgs.msg import SpeedLimit
 from nav2_msgs.srv import ManageLifecycleNodes
 from nav_msgs.msg import OccupancyGrid
 from nav_msgs.msg import Path
@@ -39,6 +41,11 @@
 from rclpy.qos import QoSProfile
 
 
+class TestType(Enum):
+    KEEPOUT = 0
+    SPEED = 1
+
+
 class FilterMask():
 
     def __init__(
@@ -78,6 +85,7 @@ class NavTester(Node):
 
     def __init__(
         self,
+        test_type: TestType,
         initial_pose: Pose,
         goal_pose: Pose,
         namespace: str = ''
@@ -87,28 +95,39 @@ def __init__(
                                                       'initialpose', 10)
         self.goal_pub = self.create_publisher(PoseStamped, 'goal_pose', 10)
 
-        pose_qos = QoSProfile(
+        transient_local_qos = QoSProfile(
           durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
           reliability=QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE,
           history=QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
           depth=1)
 
-        path_qos = QoSProfile(
+        volatile_qos = QoSProfile(
           durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE,
           reliability=QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE,
           history=QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
           depth=1)
 
         self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped,
-                                                       'amcl_pose', self.poseCallback, pose_qos)
+                                                       'amcl_pose', self.poseCallback,
+                                                       transient_local_qos)
 
+        self.test_type = test_type
         self.filter_test_result = True
-        self.plan_sub = self.create_subscription(Path, 'plan',
-                                                 self.planCallback, path_qos)
+        if self.test_type == TestType.KEEPOUT:
+            self.plan_sub = self.create_subscription(Path, 'plan',
+                                                     self.planCallback, volatile_qos)
+        elif self.test_type == TestType.SPEED:
+            self.speed_it = 0
+            # Expected chain of speed limits
+            self.limits = [50.0, 0.0]
+            # Permissive array: all received speed limits must match to "limits" from above
+            self.limit_passed = [False, False]
+            self.plan_sub = self.create_subscription(SpeedLimit, 'speed_limit',
+                                                     self.speedLimitCallback, volatile_qos)
 
         self.mask_received = False
         self.mask_sub = self.create_subscription(OccupancyGrid, 'filter_mask',
-                                                 self.maskCallback, pose_qos)
+                                                 self.maskCallback, transient_local_qos)
 
         self.initial_pose_received = False
         self.initial_pose = initial_pose
@@ -183,6 +202,7 @@ def isInKeepout(self, x, y):
             return True
         return False
 
+    # Checks that (x, y) position does not belong to a keepout zone.
     def checkKeepout(self, x, y):
         if not self.mask_received:
             self.warn_msg('Filter mask was not received')
@@ -192,12 +212,31 @@ def checkKeepout(self, x, y):
             return False
         return True
 
+    # Checks that currently received speed_limit is equal to the it-th item
+    # of expected speed "limits" array.
+    # If so, sets it-th item of permissive array "limit_passed" to be true.
+    # Otherwise it will be remained to be false.
+    # Also verifies that speed limit messages received no more than N-times
+    # (where N - is the length of "limits" array),
+    # otherwise sets overall "filter_test_result" to be false.
+    def checkSpeed(self, it, speed_limit):
+        if it >= len(self.limits):
+            self.error_msg('Got excess speed limit')
+            self.filter_test_result = False
+            return
+        if speed_limit == self.limits[it]:
+            self.limit_passed[it] = True
+        else:
+            self.error_msg('Incorrect speed limit received: ' + str(speed_limit) +
+                           ', but should be: ' + str(self.limits[it]))
+
     def poseCallback(self, msg):
         self.info_msg('Received amcl_pose')
         self.current_pose = msg.pose.pose
         self.initial_pose_received = True
-        if not self.checkKeepout(msg.pose.pose.position.x, msg.pose.pose.position.y):
-            self.error_msg('Robot goes into keepout zone')
+        if self.test_type == TestType.KEEPOUT:
+            if not self.checkKeepout(msg.pose.pose.position.x, msg.pose.pose.position.y):
+                self.error_msg('Robot goes into keepout zone')
 
     def planCallback(self, msg):
         self.info_msg('Received plan')
@@ -206,6 +245,11 @@ def planCallback(self, msg):
                 self.error_msg('Path plan intersects with keepout zone')
                 return
 
+    def speedLimitCallback(self, msg):
+        self.info_msg('Received speed limit: ' + str(msg.speed_limit))
+        self.checkSpeed(self.speed_it, msg.speed_limit)
+        self.speed_it += 1
+
     def maskCallback(self, msg):
         self.info_msg('Received filter mask')
         self.filter_mask = FilterMask(msg)
@@ -315,6 +359,21 @@ def test_RobotMovesToGoal(robot_tester):
     return robot_tester.reachesGoal(timeout=60, distance=0.5)
 
 
+# Tests that all received speed limits are correct:
+# If overall "filter_test_result" is true
+# checks that all items in "limit_passed" permissive array are also true.
+# In other words, it verifies that all speed limits are received
+# exactly (by count and values) as expected by "limits" array.
+def test_SpeedLimitsAllCorrect(robot_tester):
+    if not robot_tester.filter_test_result:
+        return False
+    for passed in robot_tester.limit_passed:
+        if not passed:
+            robot_tester.error_msg('Did not meet one of the speed limit')
+            return False
+    return True
+
+
 def run_all_tests(robot_tester):
     # set transforms to use_sim_time
     result = True
@@ -331,7 +390,10 @@ def run_all_tests(robot_tester):
         result = test_RobotMovesToGoal(robot_tester)
 
     if (result):
-        result = robot_tester.filter_test_result
+        if robot_tester.test_type == TestType.KEEPOUT:
+            result = robot_tester.filter_test_result
+        elif robot_tester.test_type == TestType.SPEED:
+            result = test_SpeedLimitsAllCorrect(robot_tester)
 
     # Add more tests here if desired
 
@@ -358,8 +420,14 @@ def fwd_pose(x=0.0, y=0.0, z=0.01):
 def get_tester(args):
 
     # Requested tester for one robot
+    type_str = args.type
     init_x, init_y, final_x, final_y = args.robot[0]
+    test_type = TestType.KEEPOUT  # Default value
+    if type_str == 'speed':
+        test_type = TestType.SPEED
+
     tester = NavTester(
+        test_type,
         initial_pose=fwd_pose(float(init_x), float(init_y)),
         goal_pose=fwd_pose(float(final_x), float(final_y)))
     tester.info_msg(
@@ -370,7 +438,9 @@ def get_tester(args):
 
 def main(argv=sys.argv[1:]):
     # The robot(s) positions from the input arguments
-    parser = argparse.ArgumentParser(description='System-level navigation tester node')
+    parser = argparse.ArgumentParser(description='System-level costmap filters tester node')
+    parser.add_argument('-t', '--type', type=str, action='store', dest='type',
+                        help='Type of costmap filter being tested.')
     group = parser.add_mutually_exclusive_group(required=True)
     group.add_argument('-r', '--robot', action='append', nargs=4,
                        metavar=('init_x', 'init_y', 'final_x', 'final_y'),