Waypoints Editor is a GUI tool designed to simplify waypoint management for medium- to large-scale robot navigation tasks. When navigation spans hundreds of meters to several kilometers, editing waypoints by numeric values alone becomes inefficient and error-prone. This tool enables intuitive, visual waypoint editing through a GUI, supports automatic waypoint generation, and allows multiple waypoints to be edited simultaneously.
how_to_use.mp4
Setup
1. Clone the repository
git clone https://github.com/Yutarop/waypoints_editor.git
2. Create environment for waypoints_editor
cd waypoints_editor
python3 -m venv venv
source venv/bin/active
pip install -r requirements.txt
3. (Ubuntu) Register a command alias for convenience
To make it easier to launch the application on Ubuntu, it is recommended to register an alias:
echo "alias waypoints_editor='path/to/waypoints_editor/run_app.sh'" >> ~/.bashrc
source ~/.bashrc
After this, you can start the application simply by running:
File Format Requirements
Map Files
The map must be provided using the following ROS-compatible formats:
- PGM file (map image)
- YAML file (map metadata)
Both files are required as input.
Waypoint Files
Waypoint files can be:
- Created from scratch using the GUI, or
- Loaded from an existing YAML file that follows the format below
Example:
waypoints: - point: {x: 1.0, y: 0.0, z: 0.0} - point: {x: 2.0, y: 0.0, z: 0.0} finish_pose: # optional pose: position: {x: 11.630675, y: 17.134052, z: 0.0} orientation: {x: 0.0, y: 0.0, z: -0.997151, w: 0.075436}
Notes
- finish_pose is optional
- Additional parameters can be freely added to the YAML file
- All waypoints are defined in the map coordinate frame
Acknowledgement
This project was developed with reference to the following repository.
https://github.com/KBKN-Autonomous-Robotics-Lab/orange_navigation