ROS2: Map Editor, Keepout Map Editor and Navigation Graph Editor

Data Format

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.

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