Keep-out Zones

Mark no-go areas on a map that the robot's autonomy avoids.

A keep-out zone is an area of a map you want the robot to stay out of — a loading bay, a spill, a section under maintenance. You draw the zones as polygons on a map, and live consumers of the map (for example person-following) avoid them. Zones are stored per map, so each space carries its own no-go areas.

Under the hood, a saved zone set is written next to the map as <zone_name>.keepout.geojson, and a publisher node watches that file and re-publishes it on /keepout/zones for anything that needs it — so an update takes effect without a restart.

Saving a zone set

Zones are GeoJSON polygons. Save a named set for a map:

curl -X POST http://<robot>:5000/maps/keepout/save \
  -H 'Content-Type: application/json' \
  -d '{
    "map_name": "office",
    "zone_name": "loading_bay",
    "geojson": {
      "type": "FeatureCollection",
      "features": [
        {"type": "Feature",
         "geometry": {"type": "Polygon",
           "coordinates": [[[1.0, 1.0], [3.0, 1.0], [3.0, 2.5], [1.0, 2.5], [1.0, 1.0]]]},
         "properties": {"name": "loading_bay"}}
      ]
    }
  }'

Managing zones

curl "http://<robot>:5000/maps/keepout/list?map_name=office"        # all zone sets on a map
curl "http://<robot>:5000/maps/keepout/get?map_name=office&zone_name=loading_bay"
curl -X POST http://<robot>:5000/maps/keepout/delete \
  -H 'Content-Type: application/json' -d '{"map_name": "office", "zone_name": "loading_bay"}'

Parameters

POST /maps/keepout/save

Parameter	Type	Required	Description
map_name	string	yes	The map the zones belong to (must already exist)
zone_name	string	yes	Name for this zone set — no /, \, .., or spaces
geojson	object	yes	A GeoJSON FeatureCollection of Polygon features

If something goes wrong

• 400 "required" — map_name, zone_name, and geojson are all mandatory.

• 400 "Invalid zone_name" — the name contains /, \, .., or a space.

• 400 map missing — the map directory doesn't exist; save the map first.

For system endpoints like GET /status and base control, see the Autonomy API Overview.