ros-navigation · SteveMacenski · Mar 28, 2025 · Mar 11, 2023 · Mar 13, 2023 · Mar 14, 2023
diff --git a/tutorials/docs/images/route_graph_generation/attribute_form.png b/tutorials/docs/images/route_graph_generation/attribute_form.png
diff --git a/tutorials/docs/images/route_graph_generation/coordinate_reference_system.png b/tutorials/docs/images/route_graph_generation/coordinate_reference_system.png
diff --git a/tutorials/docs/images/route_graph_generation/db_manager.png b/tutorials/docs/images/route_graph_generation/db_manager.png
diff --git a/tutorials/docs/images/route_graph_generation/edge_layer.png b/tutorials/docs/images/route_graph_generation/edge_layer.png
diff --git a/tutorials/docs/images/route_graph_generation/edges.png b/tutorials/docs/images/route_graph_generation/edges.png
diff --git a/tutorials/docs/images/route_graph_generation/expression_dialog.png b/tutorials/docs/images/route_graph_generation/expression_dialog.png
diff --git a/tutorials/docs/images/route_graph_generation/field_calculator.png b/tutorials/docs/images/route_graph_generation/field_calculator.png
diff --git a/tutorials/docs/images/route_graph_generation/geojson_graph.png b/tutorials/docs/images/route_graph_generation/geojson_graph.png
diff --git a/tutorials/docs/images/route_graph_generation/georeferencer.png b/tutorials/docs/images/route_graph_generation/georeferencer.png
diff --git a/tutorials/docs/images/route_graph_generation/node_layer.png b/tutorials/docs/images/route_graph_generation/node_layer.png
diff --git a/tutorials/docs/images/route_graph_generation/nodes.png b/tutorials/docs/images/route_graph_generation/nodes.png
diff --git a/tutorials/docs/images/route_graph_generation/raster_layer.png b/tutorials/docs/images/route_graph_generation/raster_layer.png
diff --git a/tutorials/docs/images/route_graph_generation/transformation_settings.png b/tutorials/docs/images/route_graph_generation/transformation_settings.png
diff --git a/tutorials/docs/route_graph_generation.rst b/tutorials/docs/route_graph_generation.rst
@@ -0,0 +1,179 @@
+.. _route_graph_generation: 
+
+Route Graph Generation
+**********************
+
+- `Overview`_
+- `Requirements`_
+- `Tutorial Steps`_
+
+Overview
+========
+This tutorial walks a user through generating a graph for the nav2 route server.
+
+Requirements
+============
+Follow https://www.qgis.org/en/site/forusers/download.html to install QGIS.
+
+Tutorial Steps
+==============
+
+1- Open QGIS and create a new project. Set the project coordinate reference system by selecting
+`project->properties->CRS`. Set the coordinate system to `WGS 84/ Pseudo-Mercator` which will work well for
+small and large scale maps.
+
+|
+
+ .. image:: images/route_graph_generation/coordinate_reference_system.png
+    :height: 1097px
+    :width: 1064px
+    :align: center
+
+|
+
+2- If you don't need to adjust your raster image to the map frame, click
+`Layer -> Add Layer -> Add Raster Layer`. Select your raster image and click `Add`.
+
+3- If you need to adjust your raster image to the map frame, open the georeferencer tool
+by clicking `Raster -> Georefencer`. Set the trasformation settings to `Linear` for `Transformation 
+type`, `WGS 84/ Pseudo-Mercator` for `Traget SRS` and set your desired path for the `Output Raster`. 
+
+|
+
+ .. image:: images/route_graph_generation/transformation_settings.png
+    :height: 757px
+    :width: 458px
+    :align: center
+
+|
+
+Select the raster image you wish to georeference and place at least three georeferencer control points. Apply the
+transformation.
+
+|
+
+ .. image:: images/route_graph_generation/georeferencer.png
+    :height: 807px
+    :width: 1460px
+    :align: center
+
+|
+
+Drag and drop the raster file output into the layers window.
+
+|
+
+ .. image:: images/route_graph_generation/raster_layer.png
+    :height: 702px
+    :width: 1051px
+    :align: center
+
+|
+
+4- Now that we have the raster layer in the correct coordinate system we can start placing nodes.
+
+
+Select `Layer -> Create Layer -> New ShapeFile Layer`. Set the shapefile layer setting to be 
+`nodes` for the `File name`, `points` for the `Geometry type` and `WGS 84/ Pseudo-Mercator` for the coordinate system. Press `OK`. 
+
+|
+
+ .. image:: images/route_graph_generation/node_layer.png
+    :height: 1041px
+    :width: 887px
+    :align: center
+
+|
+
+In order to have the `id` field auto increment, right click on the layer and select the `Attribute Form`. 
+Expand the `Fields` drop down menu and select `id`. Select the `Expression Dialog` that is next to the `Default value`. 
+
+|
+
+ .. image:: images/route_graph_generation/attribute_form.png
+    :height: 788px
+    :width: 1107px
+    :align: center
+
+|
+
+
+Within the `Expression Dialog` select `Import user expressions` and import `increment_node_id.json`. Expand `User expressions` and double click on `increment_node_id`. 
+The expression should show up in the left window. Click `OK` to save the expression and exit the `Expression Dialog`. Then click `Apply` and `OK` and save and exit the `Attributes Form`.
+This will increment the node `id` by one every time a new node is added. The first node `id` will be zero. 
+
+|
+
+ .. image:: images/route_graph_generation/expression_dialog.png
+    :height: 776px
+    :width: 950px
+    :align: center
+
+|
+
+
+Click on the node layer and then on the pencil icon to start editing the layer. To add points, click on `Add points feature`. Start adding nodes by clicking in the main window. 
+
+|
+
+ .. image:: images/route_graph_generation/nodes.png
+    :height: 1922px
+    :width: 1082px
+    :align: center
+
+|
+
+
+5- Now an edge layer can be created. Select `Layer -> Create Layer -> New ShapeFile Layer`. Set the shapefile layer setting to be 
+`edges` for the `File name`, `LineString` for the `Geometry type` and `WGS 84/ Pseudo-Mercator` for the coordinate system. Press `OK`.
+To auto incrment the `id` field follow the same steps as above except replace `increment_node_id.json` with `increment_edge_id.json`. 
+This will increment the edge `id` by one every time a new edge is added. The first edge `id` will be `10000`. 
+
+|
+
+ .. image:: images/route_graph_generation/edge_layer.png
+    :height: 1041px
+    :width: 887px
+    :align: center
+
+|
+
+Click on the edge layer and then on the pencil icon to start editing the layer. To add edges, click on `Add Line feature`. Start addig edges by clicking twice in the main window. 
+(First point is start, second point is end). Press `Esc` when you have finished adding the two points.  
+
+|
+
+ .. image:: images/route_graph_generation/edges.png
+    :height: 1922px
+    :width: 1082px
+    :align: center
+
+|
+
+
+7- Now that we have our node and edge layers, we can associate node IDs with edge IDs. 
+
+Select `Database -> DB manager`. Expand `Virtual layers` and expand `Project layers`. Open up
+the SQL window by clicking on the script icon in the top left corner. In the SQL window load in the association script by selecting `Load File`. 
+Execute the script. Load the new layer by checking the `Load as new layer` box and clicking `Load`. The script associates the start and end of a line by matching the node 
+point to the line string end or start point. We will refer to this new layer as `connected_edges`. 
+
+|
+
+ .. image:: images/route_graph_generation/db_manager.png
+    :height: 700px
+    :width: 1060px
+    :align: center
+
+|
+
+8- We are now ready to export the node and edge layer as geojson files. Execute `export_shapefiles.py <prefix_of_file> <path_to_connected_edges_shapefile> <path_to_nodes_shapefile>`. 
+This script converts the nodes and edges shape file into a geojson file. 
+
+9- Congratulations! Your graph is ready to be consumed by the nav2 route! If you wish to add nodes or edges to your graph, 
+edit the layers and repeat the proccess from step 6. If you wish to adjust the graph, make sure `Editing` is toggled on for the 
+node and edge layer. Then select `Vertex Tool(all Layers)` and toggle on `Topological Editing`. Repeat the proccess from step 7. 
+
+
+Happy Routing!
+
diff --git a/tutorials/index.rst b/tutorials/index.rst
@@ -22,3 +22,4 @@ Navigation2 Tutorials
    docs/adding_smoother.rst
    docs/using_collision_monitor.rst
    docs/adding_a_nav2_task_server.rst
+   docs/route_graph_generation.rst