waypoint_manager

A package for waypoint navigation using Nav2, enabling robots to autonomously follow predefined waypoints.

1. Features

• Read a specified waypoints .csv file

• Navigation along predefined waypoints

• Saving waypoints

• Waypoint Skip Function

2. Usage Guide

2.1 Clone the Repository

git clone https://github.com/kzm784/waypoint_manager.git

2.2 Install Dependencies

ROS2 Humble (Has not been tested with other ROS versions)

rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

2.3 Build

cd /path/to/your/ros2_ws/
colcon build --symlink-install

2.4 Launch the waypoint_manager

source install/setup.sh
ros2 launch waypoint_manager waypoint_manager.launch.py

3. Parameter Description

You can configure the node's parameters by modifying the waypoint_manager/waypoint_manager.yaml file.

waypoint_manager_node:
  ros__parameters:
    # Set waypoints_csv file in the launch file
    waypoints_csv: ''
    action_server_name: 'navigate_to_pose'
    loop_enable: True
    loop_count: 2

waypoint_visualizer_node:
  ros__parameters:
    # Set waypoints_csv file in the launch file
    waypoints_csv: ''
    map_frame: 'map'

waypoint_skipper_node:
  ros__parameters:
    # Set waypoints_csv file in the launch file
    waypoints_csv: ''
    waypoint_skip_tolerance: 1.0
    skip_scan_count: 5