Adding geojson conversion for Nav2 Route Server#2
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rhua-nv merged 2 commits intonvidia-isaac:mainfrom Jul 28, 2025
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Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
This was referenced Jul 23, 2025
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Please run the linter, see https://github.com/nvidia-isaac/SWAGGER?tab=readme-ov-file#linting-and-formatting |
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Also it would be great if you could add one or two simple unit tests. |
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
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@rhua-nv see updates with (cough shamelessly AI generated) tests and linters run. I tested over a few maps as well and Nav2 is happy so we're all good I think. Note that Nav2 Route's edges are uni-directional. You'll see in the parser code that we duplicate edges forward and in reverse to give full directionality as it seems this work's intent is by default. |
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Jul 28, 2025
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Adds a script for converting the gml files into geojson with directional edges to make SWAGGER useful for the Nav2 Route Server.
This can be tested with the following workflow:
nav2_params.yamlto usedefault_nav_to_pose_bt_xml: $(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_on_route_graph_w_recovery.xmlin the BT navigator for a route BT XML behaviorHappy navigating!
swagger_nav2.mp4
P.S. Great job on this work - it 'just worked' as expected without much fuss and the output format was easy to work with. I will definitely tie this work back into Nav2's docs shortly!