Skip to content

Add waypoint_creator packages for easy waypoint maker

takamasa horibe requested to merge TakaHoribe/core_planning:feature/waypoint_creator into master

Implemented feature

Add new package waypoint_creator in this MR. This node can be launched from runtime manager, receive some pose source from topc (or Rviz plugin such as OpFlag), then create smooth waypoints with interpolation.

Description

The lists of features are

  • generate waypoints with linear/spline interpolation from some point topics
  • remove source points for easy modification of creating waypoints
  • save waypoints with csv format (use existing waypoint_extructor) with same way as waypoint_saver
  • (minor) add timestamp for saved csv filename through roslaunch

See the attached video for detail. simplescreenrecorder-2019-08-23_18.39.57

(memo : shortcut for 2D nav goal = ctrl + g , OpFlag = ctrl + l)

Implementation description

The interpolate.c/cpp files can be used standalone. We can move this file to somewhere (maybe amathutils) to make a library after some unit tests are maintained. It`ll take for a while, so this would be a future tast.

How to test

See this video to run this package, create and save waypoints. waypoint_creator-2019-08-23_18.11.36

Merge request reports