The utility can save keepout maps in YAML/PGM format that is used in ROS2. Here is an example of a keepout map saved from the Utility:
As you can see, it is a typical YAML file that ROS2 expects. Of course, the PGM file is saved as well.
Let's now take a look at Navigation Graphs. A rather standard and most convenient way of representing Navigation Graphs is by using so called adjacency lists. Here is a list representing the Graph from the picture above:
In the code, you can also see a commented out section that, if uncommented, will produce the following:
I am not sure yet if this will be used.