nav_route_rviz_tools

RViz2 tools for route graph visualization and editing, compatible with ROS2 Humble.

Description

This package provides an RViz2 panel plugin for creating, editing, and visualizing route graphs. It allows you to:

• Add/edit/remove nodes (waypoints)
• Add/edit/remove edges (connections between nodes)
• Save/load graphs in GeoJSON format
• Visualize graphs with markers in RViz2

Features

• Node Management: Create nodes by clicking points in RViz2 or entering coordinates manually
• Edge Management: Connect nodes with directed edges
• Visual Feedback: Nodes displayed as green spheres, edges as blue arrows
• GeoJSON Support: Save and load route graphs in standard GeoJSON format
• Interactive: Click points in RViz2 to automatically populate coordinate fields

Installation

This package is designed for ROS2 Humble. Build it in your workspace:

cd ~/ros2_ws
colcon build --packages-select nav_route_rviz_tools --symlink-install
source install/setup.bash

Usage

Launch with RViz2

ros2 launch nav_route_rviz_tools route_tool.launch.py

Or manually add the panel to RViz2:

1. Open RViz2
2. Go to Panels → Add New Panel
3. Select "nav_route_rviz_tools/Route Tool"

Creating a Route Graph

1. Add Nodes:

   • Select "Node" radio button in the Add tab
   • Click "Publish Point" tool in RViz2 and click on the map, OR
   • Enter X, Y coordinates manually
   • Click "Create" button

2. Add Edges:

   • Select "Edge" radio button in the Add tab
   • Enter Start Node ID and End Node ID
   • Click "Create" button

3. Edit Nodes/Edges:

   • Go to Edit tab
   • Enter the ID of the node/edge to edit
   • Enter new values
   • Click "Confirm" button

4. Remove Nodes/Edges:

   • Go to Remove tab
   • Enter the ID to remove
   • Click "Delete" button

5. Save/Load:

   • Click "Save" to export graph to GeoJSON file
   • Click "Load" to import graph from GeoJSON file

Dependencies

• ROS2 Humble
• rclcpp
• rviz_common
• rviz_default_plugins
• nav2_util
• Qt5
• geometry_msgs
• visualization_msgs
• tf2_ros

License

Apache License 2.0

Author

Based on nav2_rviz_plugins from Nav2 project (Jazzy branch), adapted for Humble compatibility.