waypoint_editor_ros

The ROS package of waypoint editing tool

Features

Edit the waypoint

• add
  • Add a waypoint to the end of the list
  • The id is not needed
  • The goal pose is needed ("2D Nav Goal" in rviz)
• modify
  • Modify the waypoint
  • The id is needed
  • The goal pose is needed ("2D Nav Goal" in rviz)
• insert
  • Insert a waypoint
  • The id is needed
  • The goal pose is needed ("2D Nav Goal" in rviz)
• delete
  • Delete the waypoint
  • The id is needed
  • The goal pose is not needed

Undo/Redo

• undo
  • Click on "←" button
  • Undo the editing the waypoint
• redo
  • Click on "→" button
  • Redo the editing the waypoint

ID

• The ID of the waypoint is automatically assigned
• If you delete a waypoint, the ID will be reassigned

Environment

• Ubuntu 20.04
• ROS Noetic

Dependencies

• waypoint_manager_ros

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/waypoint_editor_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build waypoint_editor_ros

How to use

roslaunch waypoint_editor_ros waypoint_editor.launch

Running the demo

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/waypoint_manager_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build waypoint_manager_ros

# run demo
roslaunch waypoint_editor_ros test.launch

Node I/O

Nodes

waypoint_editor

Service Topics

• ~<name>/edit_waypoint
  • Edit the waypoint
• ~<name>/redo_waypoint
  • Redo editing the waypoint
• ~<name>/undo_waypoint
  • Undo editing the waypoint

Parameters

• ~<name>/waypoint_file (str, default: waypoints.yaml):
  The file path of waypoints

edit_client

Subscribed Topics

• /move_base_simple/goal (geometry_msgs/PoseStamped)
• The goal pose