waypoint_navigation

This package does planning and navigation to the goal waypoint throught shortest path.

View Demo Video

💡 What It Does

• Subscribes to odometry to locate the robot.
• Loads waypoints and their connections from a JSON file.
• Finds the nearest waypoint to current robot pose.
• Computes the shortest path using Dijkstra.
• Navigates through the computed path using nav2's NavigateToPose action.

🧑‍💻 Setup

1. 📂 Clone the repository

mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
git clone  https://github.com/manojm-dev/waypoint_navigation.git

2. 📦 Install dependencies

cd ~/ros_ws
sudo apt-get update -y && rosdep update && rosdep install --from-paths src --ignore-src -y

3. 🛠️ Building the packages

cd ~/ros_ws
colcon build

🛠️ Parameters

These can be passed via --ros-args cmd:

• odom_topic (odometery topic, default: /odom)
• json_path (path to json file, default: waypoint_navigation/data/waypoints.json)
• waypoint_goal (name of final destination waypoint, default: F, input: A to F in the current setup)
• waypoint_limit (max number of waypoints to process, default: 100)

🚀 Run the Node

ros2 run waypoint_navigation waypoint_navigator --ros-args -p waypoint_goal:="B"

📄 JSON Format (example)

[
    {
        "id": 0,
        "name": "A",
        "neighbours": [
            "B",
            "C",
            "D"
        ],
        "x": 0.000000000000000,
        "y": 0.000000000000000
    },
    ...
}

👨‍💻 Author

Made with ❤️ by Manoj M