Dynamically adding prohibited zones to costmap

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Hello World,

I want to dynamically (at will) add and remove "prohibited" zones to the costmap. The zones should be simple polygons which prevent the local planner from driving through them. They should be controllable by publishing, for example a Polygon, to certain topics.

I looked at the following solutions:

• costmap_prohibition_layer: zones are static

• static map layer with subscribe_to_updates: updates are not displayed

  rostopic pub /map_updates map_msgs/OccupancyGridUpdate  "header:
      frame_id: 'map'
  x: 10
  y: 10
  width: 10
  height: 10
  data: [100,100,100,100,100,100,100,100,100,100,...]"
  

  I checked that move_base_flex had subscribed to /map_updates, maybe always_send_full_costmap: true or gmapping pulishing to /map has something to do with it?

Environment:

• ROS: noetic
• uname -a: Linux husarion 5.4.0-1-generic #0~upboard5-Ubuntu SMP Fri Jan 7 11:53:57 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
• navigation: mbf_costmap_nav 0.4.0, costmap_2d 1.17.2, gmapping 1.4.2

What can I use to solve this problem?

Thank you for you attention :)