waypoints_generator_csv

This package provides scripts to generate waypoints.

Requirement

• Ubuntu 18.04
• ROS (Melodic)
• Python 2.7.x

Set Up

1. Download waypoints_generator_csv package.

$ cd ~/catkin_ws/src/
$ git clone https://github.com/HHorimoto/waypoints_generator_csv.git
$ cd ~/catkin_ws
$ catkin_make

2. Download necessary package for this package.

$ sudo apt-get install python-blessed # for key click

How to Use

The package provides three methods for generating waypoints, which can be selected via parameters in the launch file. The resulting csv file will be saved graphs/.

$ roslaunch waypoints_generator_csv waypoints_generator_csv.launch

The package also provides a script that just displays the generated waypoints in rviz. after you launch this, select the Marker topic from the add button in rviz.

$ roslaunch waypoints_generator_csv publish_marker.launch

Parameters

• select : Which method generates waypoints. key_click(k) or clicked_point(c) or threshold(t). default : threshold

• file_name : Name of the file that contains the waypoints to be generated. default : waypoints

• dist_th : Distance interval of waypoints for threshold(t). default : 7.0 [m]

• theta_th : Degree interval of waypoints for threshold(t). default : 60.0 [deg]

• use_debug_marker : Display waypoints saved in rviz or not. default : true

• distance_tolerance : Radius of Marker circle default : 1.0 [m]

Details Of Scripts

key_click_csv - key_click(k) -

when you press Enter key on the keyboard, this script saves the current robot position as a waypoint.

Demo video

clicked_point_csv - clicked_point(c) -

when you press Publish Point button in rviz, the position will be saved as a waypoint.

Demo video

threshold_csv - threshold(t) -

When the set distance and angle thresholds are exceeded, the script automatically saves the position as a waypoint.

Demo video