From cb367de563a2ed2996f7454170d0e9748b6a7b4f Mon Sep 17 00:00:00 2001
From: doubleTing <835497784@qq.com>
Date: Mon, 26 Oct 2020 17:34:57 +0800
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diff --git a/README.md b/README.md
index e2dffbd..ad32365 100644
--- a/README.md
+++ b/README.md
@@ -1,36 +1,149 @@
-# navi_multi_goals_pub_rviz_plugin
+# SLAM 多点导航功能包
-此插件是配合ROS-RViz-Navigation来使用的。
+## navi_multi_goals_pub_rviz_plugin
-主要目的是解决Navigation中只能设置一个目标点,而不是多个。
-操作步骤
-----
-下载
+### 描述:
+
+该功能包为SLAM 建图导航提供可发布多个目标点任务的导航方式。
+
+### 要求:
+
+必须基于 Autolabor SLAM导航使用
+
+
+
+
+### 一、安装与配置
+
+
+#### 1. 下载程序包
+
+进入 /home/autolabor/catkin_ws/src 目录,执行
+
```
-git clone https://github.com/RYOOSS/navi_multi_goals_pub_rviz_plugin.git
+git clone https://github.com/autolaborcenter/navi_multi_goals_pub_rviz_plugin.git
```
-编译后更改*.rviz文件
- ```
- Tools:
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal_temp
-```
-启动rviz后,在Rviz的Display中add一个Marker
-RViz的左上角依次点击Panels->Add New Panel-> navi_multi_goals_pub_rviz_plugin->MultiNaviGoalsPanel
+或访问 https://github.com/autolaborcenter/navi_multi_goals_pub_rviz_plugin.git 下载源代码,放入 /home/autolabor/catkin_ws/src 目录中
-填写目标最大数量后,确定。
+
-点击ToolBar上的2D Nav Goal后,依次在Map中设置导航目标点,目标点个数不能超过填写的目标最大数量。
+#### 2. 编译
-点击开始导航,导航开始。
+工作空间首次编译,请进入到 /home/autolabor/catkin_ws/script/common/,执行 `./rebuild` 编译脚本。
-若勾选循环,导航至最后一个目标点后,将重新导航至第一个目标点。
+如已执行过 rebuild 脚本,进入到/home/autolabor/catkin_ws/,根目录下执行 `catkin build` 即可。
-若点击取消,将取消当前目标点导航。
-若点击重置,将清空当前所有目标点。
+#### 3. 编译完成后,启动【开始导航】
-
+**注:要求提前建好地图。**
+
+
+#### 4. 加载插件
+
+RViz 的左上角依次点击 Panels -> Add New Panel -> navi_multi_goals_pub_rviz_plugin -> TeleopPanel
+
+
+
+
+
+
+
+***
+
+##### 2) 修改 2D Nav Goal 按钮话题
+
+RViz 的左上角 Panels->Add New Panel-> Tool Property
+
+将 2D Nav Goal -> Topic 修改为 /move_base_simple/goal_temp
+
+
+
+
+
+***
+
+**做完以上4、5步操作后 Ctrl + S 保存 RViz 配置,如忘记保存,则下次进来要重复操作。**
+
+
+
+### 二、使用
+
+### 操作区说明
+
+
+
+① 可设置目标点的最大数量:要求所设置目标点个数不能大于该参数(可以小于)
+
+② 是否循环:若勾选,导航至最后一个目标点后,将重新导航至第一个目标点。例:1->2->3->1->2->3->···,该选项必须在开始导航前勾选
+
+③ 任务目标点列表: x/y/yaw,地图上给定目标点的位姿(xy坐标与航向角yaw)。
+
+* 设置完目标最大数量,保存后,该列表会生成对应数量的条目
+* 每给出一个目标点,此处会读取到目标点的坐标与朝向
+
+④ 重置:将清空当前所有目标点
+
+⑤ 取消:取消当前目标点导航任务,机器人停止运动。再次点击开始导航后,会从下一个任务点开始。
+
+例:1->2->3,在1->2的过程中点击取消,机器人停止运动,点击开始导航后,机器人将从当前坐标点去往3。
+
+⑥ 开始导航:开始任务
+
+### 操作步骤说明
+
+#### 1. 初始化机器人位置
+
+点击开始导航,打开 rviz,使用键盘控制机器人运动,当环境特征与地图匹配完成后,机器人会定位到地图中对应的位置。
+
+#### 2. 设置任务
+
+##### 1) 设置任务目标点个数,点击确认保存
+
+
+
+
+##### 2) 设置目标点
+
+点击ToolBar上的2D Nav Goal,在地图上给定目标点。(每次设置都需要先点击2D Nav Goal)
+
+目标点有朝向区分,箭头顶端为车头方向。
+
+
+
+##### 3) 点击开始导航,导航开始
+
+
+
+
+已完成任务会变为红色(如下图)
+
+
+
+
+
+
+
+未勾选循环,单次任务完成后停止。
+
+勾选循环,单次任务完成后,会从最后一个目标点到第一个目标点,显示颜色为蓝色。
+
+
\ No newline at end of file
diff --git a/image/rviz_screenshot_2020_09_21-12_17_49.png b/image/rviz_screenshot_2020_09_21-12_17_49.png
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