https://automaticaddison.com/how-to-create-a-map-for-ros-from-a-floor-plan-or-blueprint/
https://www.youtube.com/watch?v=ySlU5CIXUKE&ab_channel=CaraSperbeck
https://automaticaddison.com/how-to-send-waypoints-to-the-ros-2-navigation-stack-nav-2/
https://github.com/SteveMacenski/nav2_rosdevday_2021
https://automaticaddison.com/how-to-navigate-with-keepout-zones-ros-2-navigation/
https://navigation.ros.org/tutorials/docs/navigation2_with_keepout_filter.html
https://navigation.ros.org/configuration/packages/configuring-map-server.html#configuring-map-server
https://github.com/ros-planning/navigation2/blob/main/doc/design/CostmapFilters_design.pdf