Navigation Screen
The Navigation Screen is the primary interface for autonomous robot operation. It allows users to set goals, monitor localization health, and command the robot to move to specific coordinates on the map with a simple tap.
Key Features
- Interactive Global Map: High-resolution visualization of the robot's environment and its current pose.
- Point-and-Click Navigation: Tap anywhere on the map to set a new "Goal" for the robot to autonomously drive to.
- Manual Localization: Tools to manually correct the robot's position if it becomes "lost" (Initial Pose estimation).
- Path Visualization: Shows the "Global Plan" (the intended route) and "Local Plan" (real-time obstacle avoidance maneuvers).
- Navigation Controls: Stop, Pause, and Resume buttons for immediate control over autonomous missions.
- Sidebar Management: Unified panel to select saved Maps, Waypoints, and system-specific navigation settings.
User Workflow
1. Load Map
The user selects the active map for the current environment from the sidebar. This loads the static environment data for the robot to navigate within.
2. Manual Localization (If Needed)
If the robot's current position on the map doesn't match its real-world location, the user can use the Localize tool. By tapping the robot's actual position and dragging to set the orientation, the system corrects its pose.
3. Set Goal & Navigate
To move the robot, the user taps a target location on the map. The system calculates the safest path, avoiding known obstacles, and the robot begins moving along the "Global Plan" line.
4. Device Trigger & Settings
Advanced users can interact with specific device triggers or system-level navigation parameters via the sidebar to fine-tune the robot's behavior during a mission.
5. Save Current Pose
At any point, the user can save the robot's current position as a "Waypoint" or "POI" (Point of Interest) for future automated tasks.
