node_edge_map_editor

What's this

• Scripts for edit node edge maps.

Environment

• ROS noetic (Ubuntu 20.04LTS)

Dependencies

• amsl_navigation
  • Necessarily dependency is only amsl_navigation_manager. But recomend to install avobe metapackage.

Install

• Python3 Modules
  • numpy math sys datetime threading subprocess yaml
  • If you are using pip3
    • pip3 install PyYAML # Others are preinstalled in Python, if not please issue it.
• Clone this repository to your catkin workspace source directory.

      cd <YOUR_CATKIN_WS>/src
      git clone https://github.com/amslabtech/node_edge_map_editor.git
      catkin build node_edge_map_editor
  

Setup

• Set arguments in map_editor.launch
  • node_edge_map_file: File name of node edge map.
  • pcd_file: File name of Point Cloud Map.
  • rviz_config: File name of rviz config.
  • interval: Interval time for publishing Point Cloud Map.

Run

• roslaunch node_edge_map_editor map_editor.launch
  • At first, this scripts make backup file named <node_edge_file_name>.bak

Functions

• In home mode
  • an: Add new node
  • dn: Delete node
  • mn: Move node
  • ae: Add edge
  • de: Delete edge
  • me: Move edge
  • s: Save the job
  • v: Print out current map state on your console.
  • r: Reload node edge map from yaml file
  • q: Quit this script.