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Waypoint Editor

Table of Contents

• Overview
• Development Environment
• Installation
• Usage
• License

Overview

This package provides a tool for intuitively editing and saving waypoints used in robot navigation while referencing 2D/3D maps.
The edited waypoints can be saved in CSV or Nav2-compatible YAML format, and waypoints can also be auto-captured from a localization topic.

Development Environment

• Ubuntu 22.04 (Jammy Jellyfish)
• ROS 2 Humble Hawksbill

Installation

Run the following commands in your terminal:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/kzm784/waypoint_editor.git
cd ~/ros2_ws
rosdep update && rosdep install --from-paths src --ignore-src -y
colcon build

Usage

1. Launching the Waypoint Editor

Run the following commands to launch the tool:

cd ~/ros2_ws
source install/setup.bashload_waypoints_demo
ros2 launch waypoint_editor waypoint_editor.launch.py

2. Map

Loading a Map (2D / 3D)

• Use Nav2's nav2_map_server to load a 2D map in .yaml format.
• You can also load a 3D map in .pcd format.
• In the RViz panel, use "Load 2D Map" for .yaml or "Load 3D Map" for .pcd.

3. Waypoints

Adding Waypoints

• From the toolbar at the top of RViz2, select "Add Waypoint".
• Click and drag on the map to add a new waypoint with the desired position and orientation.
• Once added, each waypoint can:
  • Be moved or rotated via drag operations
  • Be right-clicked to open a context menu for deletion or other actions

Saving Waypoints

• Click "Save WPs" in the bottom-right panel of RViz2 and pick either CSV or YAML in the dialog.
• Select YAML when you need a Nav2-compatible file for waypoint follower demos.

Loading Waypoints

• Click "Load WPs" button in the bottom-right panel of RViz2 and select the previously saved .csv or .yaml file.
• The waypoints can then be edited again in the same interface.

Undo / Redo / Clear

• Use the panel's "Undo" and "Redo" buttons to step backward or forward through waypoint edits (moving, rotating, deleting, ID changes, or command edits).
• Use "Clear All" to remove all waypoints at once.

4. Auto Capture

Auto-capturing Waypoints from Localization

• In the panel's Auto Capture section, set:
  • Auto Δd: minimum distance between auto-added waypoints
  • Topic: localization topic (e.g., /amcl_pose)
  • Type: PoseWithCovarianceStamped or PoseStamped
• Click "Start Auto Capture" to begin; waypoints will drop automatically as you move.
• Click again to stop.

License

This project is licensed under the Apache License, Version 2.0.
See the LICENSE file for details.