Keepout Filters For TurtleBot4

[slowrunner]

Adding Costmap_Filter Keepout Zones

turtlebot4_navigation and turtlebot4_bringup provide great examples to get a TurtleBot4 navigating your home, but if your home has complicated spaces, a mirror wall, and reflective surfaced appliances your TurtleBot4 may get stuck trying to reach a goal, or trying to leave a pose for a new goal.

Additionally if you want your TurtleBot4 to stay off carpets (to not leave tracks all over), then using Nav2 Costmap Keepout Filter plugin becomes mandatory.

Problem? I could not find a TurtleBot4 example of adding keepout areas.

I describe my particular adventure with adding keepout zones to my TurtleBot4 robot TB5-WaLI here.