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Rviz Navigation Plugin

该插件仅适用于ROS1版本

 Marker settingSetting

 

marker setting.png

To set the size of the markers for target points, you can adjust the scale factor where 1.0 is the default value. Other numerical values represent the size multiplier. Remember to click "Set" to refresh all the markers.

mark.png

The marker consists of two parts: the numerical part represents the sequence number of the target point, while the arrow part indicates the stopping direction of the target point.

Add goalGoal

 

add goal.png

  1. 请先使用Rviz自带功能Please use the built-in functionality of Rviz2dnave.png 在地图上选取目标点to select the target point on the map.
  2. 可通过输入X、Y、R值来微调坐标位置You can fine-tune the coordinate position by entering the X, Y, and R values.
  3. 如果需要直接前往目标点可点击If you need to go directly to the target point, you can click on the  GOTO 按键button.
  4. 如果需要将目标加入到目标列表请点击If you need to add the target to the goal list, please click on the ADD GOAL TO LIST 按键button.
  5. 如果目标与目标列表上一个目标距离过远，会在列表中自动插入中间目标值，容忍的最大距离差可在上图中修改，默认是10mf the distance between the current target and the previous target on the goal list is too far, an intermediate target value will be automatically inserted in the list. The maximum allowable distance difference can be modified in the figure above, with the default being 10 meters.

目标列表管理Goal List Management

 

goal list.png

  • 添加后的目标点会在该列表中显示，列表中参数可以直接编辑修改，修改完成后点击The added target points will be displayed in this list, and the parameters in the list can be directly edited. After editing, click the "REFRESH MARKERMARKER" 按键刷新所有标识button to update all markers.
  • 列表中绿色行代表下一个要执行的目标点，如果要切换下一个目标，可在列表中选择对应行，点击The green rows in the list represent the next goal to be executed. To switch to the next goal, select the corresponding row in the list and click the "SET NEXT GOALGOAL" 按键切换button.
  • The "LOAD GOALGOAL" 和and "SAVE GOAL用于保存和载入列表，列表将保存在GOAL" buttons are used to save and load the list. The list will be saved in ini/memory.txt中，可以在文档中直接修改数据txt and can be directly modified in the document.
  • 如果要删除单一目标，选择对应行，点击To delete a single goal, select the corresponding row and click the "DELETE GOALGOAL" 按键即可button.
  • 如果要清空目标列表，点击To clear the list of goals, click the "DELETE ALL GOALGOAL" 按键即可button.

模式选择Mode Setting

 

mode.png

模式选择用于不同的列表目标点执行方式

cycle mode 循环模式，执行完最后一个目标点会继续执行第一个目标点After executing the last target point, the system will continue to execute the first target point.
sequence mode 序列模式，执行完列表所有目标点会停止After executing all target points in the list, the system will stop.
step mode 单步模式，按列表顺序一次执行一个目标点Targets will be executed one by one in the order listed.

为了平滑路径可以调整To ensure a smooth path, you can adjust the Goal Tolerance parameter. Once the robot enters a radius of this distance from the target point, it will automatically move on to the next target point. Smaller environments may require a smaller tolerance，进入目标点的该距离半径后会自动跳转到下一目标点，场景越小该值需要越小。该设置不影响最后的目标点到达 value. This setting does not affect reaching the final target point.

启动控制Start Control

 

control.png

  • 默认情况列表会自上而下执行目标点，如果勾选By default, the list executes the target points from top to bottom. If REVERSE 会反向执行目标点is selected, the target points are executed in reverse order. 
  • 使用Due to system issues, multiple clicks may be required when using the START 和and STOP 按键时由于系统问题可能需要多次点击，该控制按键只对列表中的目标点有效，启动后下一目标点信息会显示在buttons. This control button only affects the target points in the list. After starting, information about the next target point will be displayed in the NEXT GOAL。GOAL.
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