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Waypoint Server

📍 Waypoint server ROS package with Google Maps integration.

Setup

Clone the repository

git clone

Install Geographic Library

pip install geopy

Usage

  • Use catkin to build the ROS package.
  • Inside the launch file set the following parameters:
    • Threshold distance (meters)
    • GPS topic: gps_topic
    • Odometry topic:odom_topic
    • Generate Google Maps waypoints: Enable this to generate waypoint using Google Maps
  • Run the rosnode
roslaunch waypoint_server waypoint_server.launch

The waypoint server also implements service calls.

  • Pose Waypoint
    Service call on the topic pose_waypoint sets pose waypoint with respect to the map frame. This accepts waypoint as a PoseStamped message type.
  • Geo Waypoint
    Service call on the topic geo_waypoint sets geo waypoint with respect to the map frame. This accepts waypoint as a NavSatFix message type.

The service calls return 1 is the waypoint was successfully published. Refer the srv files for more info.

Google Maps integration

Create a Google Maps Developer account and generate an API Key with Maps and Places options selected.
Inside the repository type the following:

echo "YOUR_API_KEY" > waypoint_viewer/api_key.txt

Install Google Maps API for python

pip install googlemaps