This project provides a powerful and intuitive web interface for visualizing ROS2 data in real-time. It is designed to assist in robot monitoring, route planning, and remote control, especially for robots with Ackermann steering constraints.
- Renders a dynamic map using a canvas interface.
- Displays the robot’s current position in real-time.
- Overlays custom signs and markers detected by the robot (e.g., objects, landmarks, or vision-based tags).
- Allows users to select multiple points directly on the map.
- Computes an optimized route through the selected points using a Traveling Salesman Problem (TSP) solver.
- The solver is aware of Ackermann steering constraints, ensuring feasible paths for differential and car-like robots.
- Sends the optimized path as a list of waypoints to the Nav2 Simple Navigator, allowing autonomous execution of complex missions.
- Streams live video from the robot to the web interface using WebRTC, enabling remote monitoring and telepresence.
