Navigation Feature User Guide

This document helps you quickly use the Navigation feature, including voice dialog, device selection, navigation item setup, and waypoint configuration/execution.

1. Quick Start

Top control buttons
Figure 1 Top control area (example)

Theme Switch

The top bar provides a Theme Switch button. Click to choose themes (such as Warm Apricot or Sky Blue).

Theme selection dropdown
Figure 1-2 Theme selection

Top Settings (Service Address & Feature Activation)

Settings dialog for service address and activation code
Figure X-1 Top settings dialog

2. Robot Information Module (New)

Robot information module
Figure X-2 Robot information module

3. Basic Applications

Module layout overview
Figure 1-3 Four major modules layout

4. Voice Dialog

1) Voice Dialog Controls

Voice control module
Figure 2 Voice control module

2) Voice Settings and Wake Word

Voice settings
Figure 3 Voice settings and wake word (example)

3) Notes for Voice Dialog

Important: During dialog, when starting camera/actions/movement, do not send the exact same command repeatedly, or the call may fail.

5. Device Selection (Microphone & Speaker)

Important: After each speaker/mic re-plug or robot reboot, you must click "Switch Speaker" once. Select mic and switch speaker before using voice dialog.
Mic and speaker controls
Figure 4 Mic and speaker controls (example)

6. Map Management

Map management UI
Map management interface (example)

1) Start Navigation / Stop Navigation (New)

New map management buttons
Figure X-3 New map management buttons

Create Map Page (enter via "Create Map")

Create map page
Figure X-3-1 Create map page

Edit Map Page (enter via "Edit Map")

Edit map page
Figure X-3-2 Edit map page

2) Save Map

Important: If you still use desktop mapping, click "Save Map" before closing the mapping page; otherwise data may be lost. For mobile-side mapping, click the save button directly on that page.

3) Backup Map

  1. Click Backup Map to open the backup dialog.
  2. Enter a backup name (must be unique).
  3. Click "Start Backup" in top-right. The system backs up:
    • Map files (map directory)
    • Config files (config directory)
    • Path files (path directory)
    • Point cloud files (PCD directory)
  4. After completion, all backups (name and creation time) are visible in backup list.
Tip: Back up maps regularly to avoid data loss. Recommended path: /home/ztx/robot/map-backup.

4) Import Map

  1. Click Import Map to open import dialog.
  2. Select a backup record in the list (or click "Select Backup").
  3. After confirmation, click "Start Import" in the top-right corner.
  4. Confirm prompt; all map-related data of selected backup will be restored automatically.
  5. Current map/config/path/point-cloud data will be replaced by backup content.
Warning: Importing overwrites all current map data. Confirm carefully and back up current data first.

5) Delete Backup

7. Navigation Items

1) Add Navigation Item

  1. Click + Add Navigation Item.
  2. Set Chinese Name, English Name (letters only), trigger keyword, and description.
  3. After saving, the item is created and enabled by default.

2) Trigger Keywords

When voice dialog is active, speaking the configured keyword in conversation triggers auto-start of that navigation item (navigation must be started and localized on the computer first).

3) Edit / Delete / Execute

Navigation item list and execute button
Figure 4 Navigation item list and execution control

8. Waypoints

1) Add and View

After expanding a navigation item, you can add multiple waypoints (single-point or multi-point; make sure map is started and localization succeeds first).

Recommended method: Move robot to target waypoint and click Get Current Position in waypoint editor to auto-fill X/Y/angle.

  1. Move robot to target position and confirm facing direction.
  2. Open waypoint edit dialog.
  3. Click Get Current Position to auto-fill coordinates and angle.
  4. Review and save.
Get current position from waypoint editor
Figure 5-3 Get Current Position in waypoint editor
Note: Correct waypoint coordinates can only be obtained after map start and successful localization.

Alternative method: Read coordinates via Publish Point in navigation view and fill manually.

  1. Click Publish Point on toolbar.
  2. Move mouse to target point on map (no click required).
  3. Read X/Y in lower-left coordinate area and fill manually; enter angle according to on-site pose.
Publish Point workflow
Figure 5-4 Publish Point steps (alternative)

2) Parameter Description

Video config note: Click "Video File" to upload/replace video; click "Delete" in popup to clear video file, play mode, and title.
Waypoint parameter configuration
Figure 5 Waypoint parameter configuration

3) Edit, Insert, and Delete

Each waypoint card provides these actions:

Waypoint insert buttons
Figure 5-1 Waypoint action buttons
Inserted duplicated waypoint preview
Figure 5-2 Inserted duplicate preview
Tip: Insert helps quickly duplicate similar waypoints; then edit only required fields for higher efficiency.

9. Live Navigation Map (New)

Live navigation map
Figure X-4 Live navigation map

10. FAQ

Tablet-side User Guide

Tablet desktop
Figure 6 Tablet desktop

Feature 1 Start Mapping (scan and build scene map)

You must start mapping before first-time use. Click "Start Mapping" on tablet desktop, move robot, and the system scans/builds map in real time.

⚠️Mapping notes:
  1. Use regular locomotion control mode.
  2. Keep doors open while mapping (during navigation they may be open or closed).
  3. Prefer starting mapping/localization at places with three walls around.
  4. Watch screen in real time to avoid map drift (point cloud not overlapping walls indicates drift).
  5. Scan as complete as possible and ensure map boundary is closed.
  6. Keep map clean: remove movable obstacles and bystanders; operator should stand near wall and avoid random walking.
  7. Move slowly and uniformly; reduce repeated back-and-forth; prioritize major passable areas.
  8. The robot's initial position during mapping becomes default relocalization start point; power on/start near this point before tours.
  9. For noise and movable obstacles, erase with left mouse in "Edit Map" using MapEraserTool; use right mouse to add obstacles only when necessary.
  10. After mapping, do not close mapping page. Save map from app first, then close.
Mapping example
Figure 6 Mapping example

Feature 2 Save Map (migrated to APP side, refer to Save Map above)

After mapping, do not close scan window. Click "Save Map" in APP first, then close mapping page.

⚠️Save flow:
  1. After scene scanning is complete, do not close mapping page.
  2. Click "Save Map" in APP.
  3. Close mapping page only after successful save confirmation.

Feature 3 Edit Map (clean noise and movable obstacles)

After double-clicking "Edit Map" and entering the editor:

  1. Click Open Map and select target map.
    Map path: robot/DaoLan/map/map (absolute path /home/ztx/robot/DaoLan/map/map).
  2. After loading, use MapEraserTool:
    • Left click: erase noise and movable/incorrect obstacles (temporary objects, pedestrians).
    • Right click: add obstacles only when needed.
    • Keep fixed structures: do not delete fixed walls/columns.
    • Shortcuts: Ctrl + + to enlarge brush, Ctrl + - to reduce; range 1~10 px.
  3. After editing, click Save All Files, then close after success prompt.
MapEraserTool button
MapEraserTool (example)
RViz map editing and localization
Figure 7 RViz editing page

Feature 4 Start Navigation (double-click before every tour)

Before each navigation task, double-click "Start Navigation" on tablet desktop. After startup, move the robot in circles/paths to scan surroundings, and click 2D Pose Estimate multiple times until point cloud aligns with map boundaries.

RViz pose estimation and alignment
Figure 8 Pose estimation and alignment
Not aligned state: If UI shows walls not overlapping (navigation unavailable), continue moving the robot and repeat 2D Pose Estimate until alignment is achieved.
Not aligned example
Figure 9 Not aligned state

11. Other Feature Entrances

Besides navigation, the Basic Applications module also provides:

References:

Navigation Feature - Concise User Guide