/ros_waypoint_generator

This package generate waypoints for 2D navigation automatically by using /map and /odom

Primary LanguageC++

ros_waypoint_generator

This package generate waypoints for 2D navigation by using /map and /odom

How to use

amclを走らせながらこれを起動しておくか、rvizのクリックでも追加できるよ。
rvizでtfを表示させてscaleを10くらいにしておくとwaypointの姿勢もわかるよ。
箱の周りの輪っかで姿勢を変えられるけど上手く行かないことがある（バグ？）ので拡大したりしながら根気よくやろう。

required

  • /amcl_pose

run

generate waypoint

$ rosrun ros_waypoint_generator ros_waypoint_generator

If you have already had waypoints file as point.csv,

$ rosrun ros_waypoint_generator ros_waypoint_generator --load path/to/point.csv

The waypoint file format is below.

x, y, z, qx, qy, qz, qw, is_searching_area, reach_threshold

save waypoint

$ rosrun ros_waypoint_generator ros_waypoint_saver

modify_waypoint

If the waypoint area is searching area, the you can make last colum 1.
If you set it correct, the marker color will be yellow.
The normal color is green.

parameters

  • dist_th : threshold of distance for adding new waypoint
  • yaw_th : threshold of yaw angle[rad] for adding new waypoint

check waypoints

If you want to check the waypoints,

rosrun ros_waypoint_generator ros_waypoint_server --load path/to/waypoints.csv

TODO

  • waypointを保存する
  • waypointを読み込む