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Thank you. Your description is close to what I was looking for, so I will definitely have a closer look at your repository. We want to plan our routes on top of the maps generated by Gmapping or Carthographer. But essentially, those are also just bitmaps. We want the following flow: the robot drives around and builds a map, then the operator draws routes/paths, restricted areas, and free-to-navigate areas, speed zones, etc. on top of that map, and finally, the robot uses that data as input to the planner.

I think it is logical to separate the editor from the functionality of the planner. The interesting part is to have a common data format for the routes in YAML/XML/etc. Do you use a standard for storing the routes/paths? Currently, we have a group of students working on a planner that follows predefined paths.

Ps. I tried to build your code, but I got some errors. I will have a look at it tomorrow.

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