{"id":13343329,"url":"https://github.com/quantumxt/waypointgen","last_synced_at":"2025-03-12T04:33:15.630Z","repository":{"id":37208628,"uuid":"218711535","full_name":"quantumxt/waypointgen","owner":"quantumxt","description":"A waypoint generator (using InteractiveMarkers in Rviz) and a waypoint server for playback.","archived":false,"fork":false,"pushed_at":"2023-01-05T03:02:52.000Z","size":219,"stargazers_count":0,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2024-10-24T15:39:19.963Z","etag":null,"topics":["interactive-markers","path","ros","rviz","waypoint","waypoint-generator","yaml"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/quantumxt.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2019-10-31T07:46:10.000Z","updated_at":"2023-05-18T02:29:03.000Z","dependencies_parsed_at":"2023-02-03T07:46:37.229Z","dependency_job_id":null,"html_url":"https://github.com/quantumxt/waypointgen","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/quantumxt%2Fwaypointgen","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/quantumxt%2Fwaypointgen/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/quantumxt%2Fwaypointgen/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/quantumxt%2Fwaypointgen/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/quantumxt","download_url":"https://codeload.github.com/quantumxt/waypointgen/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243158974,"owners_count":20245668,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["interactive-markers","path","ros","rviz","waypoint","waypoint-generator","yaml"],"created_at":"2024-07-29T19:31:08.375Z","updated_at":"2025-03-12T04:33:15.363Z","avatar_url":"https://github.com/quantumxt.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# waypointgen\n\n[![ROS CI](https://img.shields.io/github/actions/workflow/status/quantumxt/waypointgen/ros_ci.yml?label=CI\u0026logo=ros\u0026style=for-the-badge)](https://github.com/quantumxt/waypointgen/actions/workflows/ros_ci.yml)\n\nA waypoint generator (using InteractiveMarkers in Rviz) and a waypoint server for waypoint playback. The waypoints are saved as a **YAML** file.\n\n## Compilation\n\nGit clone the ROS Package into the relevant workspace.\n\n```bash\ncd ~/catkin_ws/src\ngit clone https://github.com/quantumxt/waypointgen.git\n```\n\nCompile the package.\n\n```bash\ncd ~/catkin_ws\ncatkin_make\n```\n\nor \n\n```bash\ncd ~/catkin_ws\ncatkin build waypointgen\n```\n\n## Setpoint Markers\n![Rviz](assets/b.jpg)\n\n\u003e Utilizing interactive markers for a more visual approach in generating waypoints.\n\nLaunch the Waypoint Generator via *roslaunch*, which would launch the program and rviz:\n```bash\n$ roslaunch waypointgen setpoint_marker.launch  \n```\nNext, add the InteractiveMarker in Rviz. (Topic name: */setpoint_marker/update*)\n\n![InteractiveMarkers](assets/a.jpg)\n\n\u003e Alternatively, load `wp_markers.rviz` into Rviz via `rviz -d wp_markers.rviz`.\n\nThere are 3 options available in the context menu (when the marker is _right-clicked_):\n- **Get Location**: Get current location of marker selected.\n- **Waypoint**\n  - **Add**: Add new waypoint.\n  - **Remove**: Remove selected waypoint.\n- **Generate Waypoint List**: Generate waypoint list to be used in waypoint playback.\n\n\n## Waypoint Server\nThe waypoint server would load the YAML which is specified in the *roslaunch* file, which would then publish the various navigation goals.\n\n\u003e **Note:** The setpoint_server node subscribes to */move_base/TebLocalPlanner/GlobalPath*, so change it accordingly if TebLocalPlanner Plugin is not used!\n\n### Playback\nLaunch the playback server via *roslaunch*:\n```bash\n$ roslaunch waypointgen setpoint_server.launch  \n```\nThe path of the waypoint list is specified via the `list_path` param, and is set through the `list_path` arguement.\n```xml\n  \u003carg name=\"list_path\" default=\"$(find waypointgen)/wp_list/a.yaml\" /\u003e\n```\n**Starting the server playback**\n\nA ROS Service call would be used to start the playback of the points, call the `/trigger_play` service.\n\n```bash\nrosservice call /trigger_play \u003cDelay in seconds\u003e\n```\nFor example, triggering the playback after 3s.\n\n```bash\nrosservice call /trigger_play 3\n```\n## Unit Testing\n\nTo run the unit test, ensure that the wayointgen package has been compiled previously.\n\n```bash\ncatkin build waypointgen\n```\n\nAfter that, compile the test.\n\n```bash\ncatkin test waypointgen\n```\n\n## Changelog\n\n### v0.1.0\n\n- Initial commit.\n\n### v0.1.1\n\n- Convert functions to classes.\n- Refactored code.\n- Replace ros topic subscription to ros service to trigger playback.\n- Add ROS CI.\n\n### v0.1.2\n\n- Add benchmark metrics.\n- Split into seperate ROS nodes.\n- Refactored code.\n- Removed custom msg.\n- Update launch files.\n\n### v0.1.3\n\n- Add unit tests \u0026 rostest for utils.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fquantumxt%2Fwaypointgen","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fquantumxt%2Fwaypointgen","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fquantumxt%2Fwaypointgen/lists"}