GUI Demo (simple_gui)

An OpenCV-based visualization demo program. It visualizes maps and robot positions, allowing you to set waypoints with mouse clicks.

Usage

./simple_gui <robot_id> [pcd_path]

# Examples
./simple_gui railab_raibo-xxx
./simple_gui railab_raibo-xxx ../maps/office1_example.pcd

Workflow

  1. Press O to open a PCD map file

  2. Click on map to set robot initial position

  3. Click in the direction the robot is facing to set yaw

  4. Press S to send map and start localization

  5. Click on map to add waypoints

  6. Press W to send waypoints and start navigation

Keyboard Shortcuts

Key

Function

O

Open PCD map file

S

Send map (start localization)

W

Send waypoints (start navigation)

C

Clear waypoints

R

Toggle repetition (1 → 5 → ∞)

X

Reset initial pose

+/-

Zoom in/out

Q

Quit

Mouse Controls

  • Left-click: Step-by-step workflow action (position/direction/waypoint)

  • Right-drag: Pan view

  • Scroll: Zoom

Status Display

  • Current step and next action guide displayed at bottom of screen

  • Waypoints cannot be added before localization is active

  • Pressing S when localization is already active shows reset instructions

Note

simple_gui uses the zenity package for file selection dialogs. Install with sudo apt-get install zenity on Ubuntu.