ROS2 Tutorial: Navigation with keepout zones

Compiling and Running

                    # Terminal 1:
                    # echo $ROS_DISTRO
                    # galactic
                    # source /opt/ros/galactic/setup.bash
                    $ cd ~/SnowCron/ros_projects/harsh
                    $ colcon build --packages-select navigation_bot_07
                    $ source install/setup.bash
                    $ ros2 launch navigation_bot_07 world:=src/worlds/maze.sdf map:='~/SnowCron/ros_projects/harsh/src/maps/map.yaml' slam:=False keepout_mask:=src/maps/keepout_mask.yaml

                    # Terminal 2:
                    $ cd ~/SnowCron/ros_projects/harsh/src/navigation_bot_07/scripts
                    $ python3


As you can see, we have added an additional command line parameter called keepout_mask. All launch files were modified accordingly, to accept this parameter and to pass it to whatever launch files they call (if any).

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