How to create waypoints for path following

Method 1: using Rosbag, PCD Map and NDT Matching

  1. Load all the nodes required by NDT (map, nmea*, tf, voxel, ndt_matching) and verify ndt is working
  2. Launch vel_pose_connect

current_pose: /ndt_pose
current_velocity/estimate_twist

  1. Launch waypoint_saver

[X] Check Save /current_velocity
Interval 1 (store a waypoint every meter)

  1. In Rviz add the topic waypoint_saver_marker
  2. Play the rosbag, the path followed by NDT will be stored as a series of waypoints in the specified CSV file, in the same coordinates as the PCD map’s frame

Method 2: Using Vector Map, TF, Lane and RViz’s Publish Point

  1. Launch waypoint_clicker

velocity
output file

  1. In Rviz add the topic /waypoint_guide

Small points belonging to the lanes will be displayed.

  1. Use the Published Point in Rviz to click the desired points in the lane to create a path. (Points can only be added following the lane direction)

Load the path to confirm the file

The file can be loaded using a text editor.

  1. Select the csv file and launch waypoint_loader

  1. In Rviz add the /global_waypoints_marker