virtual_costmap_layer

This package includes a plugin to add a virtual layer of obstacles and to define a navigation zone in the 2D costmap. The user can define several geometric forms (point, line, circle, polygon) in the map frame.

1. Point: geometry_msgs::Point [x, y, z=0]
2. Line: 2 * geometry_msgs::Point[x, y, z=0]
3. Circle: geometry_msgs::Point[x, y, z>0]
4. Polygon with n edges: n * geometry_msgs::Point[x, y, z=0]

The plugin subscribes to different topics for zone and for obstacles to receive data. It is also possible to define all those forms in the config YAML file.