The code for this section is located in utils part of an archive. Note that archive includes some additional folders, like maps and worlds, that are used by all projects and therefore are located outside of them. Also note that we use ROS2 Galactic.
As we are going to work with maps, particularly, with keepout maps and navigation graphs, let's create a tool that will allow us to create such maps and graphs.
This is going to be a simple one-file solution that, however, provides an advanced suite for... well, pretty much everything we need. And if I have missed something, I will add it later.
Warning! Please note the Copyright in the file's header:
Here is what the program looks like:
It can load base maps, create weighted graphs, draw keepout maps, aww waypoints and more: