Interactive Waypoints:

This repo is inspired by http://wiki.ros.org/follow_waypoints and extends the functionality further. It allows to graphically control the list of waypoints, add/remove/change_id.. It also allows Saving to file and sending to move_base from a simple drop down menu.

Description:

This package is a node that manages a waypoint server. Commands to add/delete/reorder etc are implemented as a menu items on waypoints (through rviz)

To use: add interactive waypoint description through rviz. First waypoint can be spawn through add_waypoint_topic (/initial_pose by default --> default topic of rviz pose initialisation tool)

Subscriptions

• <add_waypoint_topic> expects PoseWithCovarianceStamped messages. Spawns waypoints at those poses. (default topic matched the rviz tool topic) #Params:

Params

• add_waypoint_topic (default: /initialpose) See subscriptions
• connect_movebase (default: true) Enables move base functionality. Expects a movebase action server to be available at move_base
• enable_saving (default: true) Enables load/save functions.

Notes:

• The waypoints will be in the frame of received poses

Dependancies:

• pip install easygui. This is for file choice dialog. Should install using rosdep
• ros_msgdict: can be found here