Rviz Navigation Plugin

~~该插件仅适用于ROS1版本~~This plugin is only compatible with ROS1 version.

Marker Setting

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.

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 Goal

Please use the built-in functionality of Rviz to select the target point on the map.
You can fine-tune the coordinate position by entering the X, Y, and R values.
If you need to go directly to the target point, you can click on the GOTO button.
If you need to add the target to the goal list, please click on the ADD GOAL TO LIST button.
f 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.

Goal List Management

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 MARKER" button to update all markers.
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 GOAL" button.
The "LOAD GOAL" and "SAVE GOAL" buttons are used to save and load the list. The list will be saved in ini/memory.txt and can be directly modified in the document.
To delete a single goal, select the corresponding row and click the "DELETE GOAL" button.
To clear the list of goals, click the "DELETE ALL GOAL" button.

Mode Setting

模式选择用于不同的列表目标点执行方式

cycle mode	After executing the last target point, the system will continue to execute the first target point.
sequence mode	After executing all target points in the list, the system will stop.
step mode	Targets will be executed one by one in the order listed.

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 value. This setting does not affect reaching the final target point.

Start Control

By default, the list executes the target points from top to bottom. If REVERSE is selected, the target points are executed in reverse order.
Due to system issues, multiple clicks may be required when using the START and STOP 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.