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Maybe a different and more flexible approach is to write your own costmap layer and give it a geometry_message::polygon as input for the restricted areas. Like this you don't have to define the areas before the navigation starts, but you can change the restricted areas during navigation.
Take a look at the create a new layer tutorial in the wiki. Even though i must admit, that it is very low level. For more information i recommend the costmap layer package from David Lu as a reference.
I did something similar for road navigation to prevent the robot from entering the left lane when the right one is free.
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