Virtual obstacles in move base

[gglaspell]

Time permitting, would it be possible to have the virtual fence in vizanti output in well-known text representation of geometry?

As an example of wkt: - POLYGON ((-12 30, 9 30, 9 -2, -12 -2))

The reason I ask is I often use this virtual obstacle package to create virtual fences in move_base for my UGV: https://github.com/GMahmoud/virtual_costmap_layer/tree/feature-big-refactoring

Note that the main branch works with Melodic, but the feature-big-refactoring branch works in Noetic.

The idea is to draw the virtual fence in vizanti and the virtual obstacles package would add the virtual fence to the virtual obstacle layer in move_base.

Note there is also a service call to clear the virtual obstacles which I think could be assigned to a custom button in vizanti.

Please let me know what you think. In my head, it is another way to tie vizanti's features into move_base. This is mainly for ROS Noetic. I think NAV2 has something built in to deal with no-go zones, but I haven't looked into it yet.