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https://github.com/toshikinakamura0412/waypoint_manager_ros
The ROS package for waypoint management
https://github.com/toshikinakamura0412/waypoint_manager_ros
mit-license python python3 robotics ros ros-noetic visualization waypoint-following waypoint-navigation waypoints waypoints-creator yaml
Last synced: about 2 hours ago
JSON representation
The ROS package for waypoint management
- Host: GitHub
- URL: https://github.com/toshikinakamura0412/waypoint_manager_ros
- Owner: ToshikiNakamura0412
- License: mit
- Created: 2024-05-10T07:46:07.000Z (9 months ago)
- Default Branch: master
- Last Pushed: 2024-06-22T16:53:14.000Z (7 months ago)
- Last Synced: 2024-11-20T21:58:45.098Z (2 months ago)
- Topics: mit-license, python, python3, robotics, ros, ros-noetic, visualization, waypoint-following, waypoint-navigation, waypoints, waypoints-creator, yaml
- Language: Python
- Homepage:
- Size: 125 KB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# waypoint_manager_ros
[](https://opensource.org/licenses/MIT)
The ROS package for waypoint management
Publish the goal pose of the ID specified as the parameter start as the initial pose of the robot at node startup
Publish the goal pose in order from id "parameter start + 1"
## Environment
- Ubuntu 20.04
- ROS Noetic
## Install and Build
```
# 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 # Install dependencies
catkin build waypoint_manager_ros
```
## How to use
```
roslaunch waypoint_manager_ros waypoint_manager.launch
```
## Running the demo
```
roslaunch waypoint_manager_ros test.launch
```
update goal pose manually
```
rqt
```
## Node I/O
## Nodes
### waypoint_manager
#### Published Topics
- /initialpose (`geometry_msgs/PoseWithCovarianceStamped`)
- The initial pose of the robot
- ~\/global_goal (`geometry_msgs/PoseStamped`)
- The goal pose
- ~\/waypoints (`visualization_msgs/MarkerArray`)
- Visualization of waypoints
#### Subscribed Topics
- /finish_flag (`std_msgs/Bool`)
- The flag to finish the current goal
#### Service Topics
- ~\/update_goal
- Update the goal pose
#### Parameters
- ~\/hz (int, default: `1` [Hz]):
The rate of main loop
- ~\/frame_id (str, default: `map`):
The frame id of topics
- ~\/waypoint_file (str, default: `waypoints.yaml`):
The file path of waypoints
- ~\/start (int, default: `0`):
The start id of robot
- ~\/width_ratio (float, default: `1.0`):
The width ratio of edge between waypoints
- ~\/is_visible_text (bool, default: `True`):
The flag to visualize text of id
- ~\/is_visible_edge (bool, default: `True`):
The flag to visualize edge between waypoints