Technical Documentation: Waypoint Management

Architecture

Waypoints are managed as a collection in the Go Backend's SQL database and synchronized with the robot's local storage. The RosProvider maintains the active waypoint list for the UI.

Technical Details

• File Path: lib/screens/waypoint_screen.dart
• Data Model:

  JsonCopy
  {
    "id": "uuid",
    "name": "Charging Station",
    "map_id": "current_map_uuid",
    "x": 1.25,
    "y": -3.40,
    "theta": 1.57,
    "metadata": { "icon": "battery", "color": "green" }
  }

• Backend Endpoints:
  • GET /api/waypoints?map_id=...
  • POST /api/waypoints: Create/Update.
  • DELETE /api/waypoints/:id

Integration Logic

• Coordinate System: Waypoint coordinates are stored in the "Map Frame" (Meters), making them persistent even if the robot is rebooted or moved.
• Visualization: Waypoints are rendered as MarkerArray messages on the /waypoint_markers topic, allowing them to be seen in both the Atman UI and standard ROS tools like RViz.
• Navigation Trigger: Selecting a waypoint invokes the rosProvider.navigateToWaypoint() method, which wraps the NavigateToPose action call.