Do not allow the robot to plan in unknow region for navigation. Parameters to set apart from allow_unknown [closed]

edit

Hi all,

I want to make sure that the robot does not plan through the unknow regions of the map. The map looks as follows:

I have set the allow unknown parameter in "base_global_planner_param.yaml" as follows:

NavfnROS:
  allow_unknown: false

and also set the track unknow region parameter in

global_costmap:
  map_type: costmap
  global_frame: map
  robot_base_frame: base_link
  track_unknown_space: true
  unknown_cost_value: 0
  update_frequency: 5.0
  static_map: true

It still plans a path as shown in above image. I have also played with unknown_cost_value parameter, (both 0 and 255), and still no avail.

The objective is to make sure that the robot does not plan apart from a specific region. I intended to edit the map so that i make all the regions grey where i do not want to plan them.

I use a preloaded map and not a live map from gmapping.

Any suggestions are appreciated.

Thanks,