Add in optional keepout / speed zones for example in new warehouse maps
Opened this issue · 7 comments
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.
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
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! 😄
Assign this to me @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
@stevedanomodolor how's this going? 😄
@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.
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!