Add in optional keepout / speed zones for example in new warehouse maps

[SteveMacenski]

Show the features in use on the TB4 in warehouse

Might be good to have them turn-out-able (launch CLI parameter) so that we can have easy toggle with them off for normal navigation.

[sterlingm]

Is this already implemented? The following two tutorial pages discuss keepout and speed limit zones: https://docs.nav2.org/tutorials/docs/navigation2_with_keepout_filter.html
https://docs.nav2.org/tutorials/docs/navigation2_with_speed_filter.html

[SteveMacenski]

Not yet, this is to have an in-repo example of each of these using the TB4 launch file added in main and jazzy of a warehouse as technology demonstration and for testing and evaluation. This would be a great first-time contribution to add in some keepout zones, speed restriction zones, and configurations so folks have a working out-of-the-box example! 😄

[stevedanomodolor]

Assign this to me @SteveMacenski

[SteveMacenski]

As an extension of this work - it would be great to have a checker for if we're currently in a keepout zone to enable the robot to get out of it by setting the costs to very-high but still navigable. I know this is a common feature among keepout users that we don't yet have addressed in our designs to-date

[SteveMacenski]

@stevedanomodolor how's this going? 😄

[stevedanomodolor]

@stevedanomodolor how's this going? 😄

Was working on this, had an annoying bug that was still figuring out what the issue was. I will continue this and post more info on this, this week.
Sorry for the lateness, it's been a busy month.

[SteveMacenski]

Totally understand, just checking in since we had a few new contributors reach out this month, so I wanted to know if this was still on your radar. Thanks!