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Manage Waypoints on Rviz

asked 2012-06-21 06:52:15 -0600

updated 2014-01-28 17:12:46 -0600

ngrennan gravatar image


I have a ground-robot (2D) and I want to manage (insert,delete and move) a simple set of waypoints in rviz, that will be used to define the path! (i will subscribe the map of gmapping)

What solution there is available for this? I have see the interactive markers, i don't need a complex solution like this!


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answered 2012-06-21 08:25:57 -0600

joq gravatar image

I generally use disk-shaped markers for way-points, like this:

def mark_way_points(self, color):
    """Create slightly transparent disks for way-points.

    :param color: disk RGBA value
    index = 0
    for wp in self.map_points:
        marker = Marker(header =,
                        ns = "waypoints_osm",
                        id = index,
                        type = Marker.CYLINDER,
                        action = Marker.ADD,
                        scale = Vector3(x=2., y=2., z=0.2),
                        color = color,
                        lifetime = self.marker_life)
        index += 1
        # use easting and northing coordinates (ignoring altitude)
        marker.pose.position = wp.toPointXY()
        marker.pose.orientation = Quaternion(x=0., y=0., z=0., w=1.)
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answered 2012-06-21 08:15:44 -0600

Lorenz gravatar image

updated 2012-06-21 08:16:11 -0600

Have a look at the parsec repository at In particular the packages interactive_waypoint_markers and navigation_waypoints_server should be interesting for you. In the repository, you can also find example launch files, e.g. here.

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Asked: 2012-06-21 06:52:15 -0600

Seen: 2,362 times

Last updated: Jun 21 '12