Ros_Qt5_Gui_App/doc/usage_en.md

Usage Guide

Map Display and Editing

Map Display

The software supports displaying global and local maps, with map data coming from ROS topics.

To enable map display, ensure the following configuration in config.json:

{
  "topics": {
    "map": {
      "display_name": "Map",
      "topic": "/map",
      "enable": true
    }
  }
}

Map Editing

The following editing features are available:

Topological Map

Support drag-and-drop setting of robot navigation target points:

Note: If navigation point publishing has no response, check the following configuration:

{
  "move_base_simple": {
    "display_name": "NavGoal",
    "topic": "/move_base_simple/goal",
    "enable": true
  }
}

Eraser Tool

Click the eraser to erase obstacles in the map:

Pencil Tool

Use the pencil to draw obstacles:

Line Drawing

Draw straight lines on the map:

Map Saving

After editing, click the save button to save:

• *.pgm - Image data
• *.yaml - Map description file
• *.topology - Topological data (navigation point information)

Robot Control

Manual Control

Use keyboard or interface buttons to control the robot:

Note: Please check the manual control configuration:

{
  "velocity": {
    "display_name": "Speed",
    "topic": "/cmd_vel",
    "enable": true
  }
}

Robot Relocation

Hold left button to drag position, right button to rotate:

Note: Ensure correct configuration:

{
  "initialpose": {
    "display_name": "Reloc",
    "topic": "/initialpose",
    "enable": true
  }
}

Speed Dashboard

Display real-time robot speed:

Required configuration:

{
  "odom": {
    "display_name": "Odometry",
    "topic": "/odom",
    "enable": true
  }
}

Battery Display

Show real-time battery status:

Configuration (using sensor_msgs::BatteryState):

{
  "battery": {
    "display_name": "Battery",
    "topic": "/battery",
    "enable": true
  }
}

Navigation Features

Multi-point Navigation

Set multiple navigation points to execute in sequence:

Usage steps:

1. Add navigation points
2. Set execution order
3. Click "Start Task" button
4. Monitor task progress

Camera Display

Support multiple camera streams:

• RGB and depth images
• Compressed transmission
• Ported from rqt_image_view

Configuration example:

{
  "images": [
    {
      "location": "front",
      "topic": "/camera/rgb/image_raw",
      "enable": true
    },
    {
      "location": "front/depth",
      "topic": "/camera/depth/image_raw",
      "enable": true
    }
  ]
}

Robot Shape Display

Support various robot shapes:

• Rectangle
• Circle
• Custom shapes

Configuration example:

{
  "robot_shape_config": {
    "shaped_points": [
      {"x": 0.5, "y": 0.5},
      {"x": 0.5, "y": -0.5},
      {"x": -0.5, "y": -0.5},
      {"x": -0.5, "y": 0.5}
    ],
    "is_ellipse": false,
    "color": "0x00000FF",
    "opacity": 0.5
  }
}