From 69e16882f900e5577ce8de5189bd45eedca280b0 Mon Sep 17 00:00:00 2001 From: John Chrosniak Date: Thu, 9 Jan 2025 10:23:54 -0500 Subject: [PATCH] updated overview and fixed broken link --- tutorials/docs/navigation2_route_tool.rst | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tutorials/docs/navigation2_route_tool.rst b/tutorials/docs/navigation2_route_tool.rst index e5d1442d1..424011090 100644 --- a/tutorials/docs/navigation2_route_tool.rst +++ b/tutorials/docs/navigation2_route_tool.rst @@ -15,13 +15,15 @@ Overview ======== The Nav2 route tool is an Rviz panel designed to ease the process of creating and editing the route graphs used by the Nav2 Route Server. -Supported operations include loading in existing route graphs, adding new nodes/edges, editing existing nodes/edges, removing nodes/edges, and saving changes to a new file. +In contrast to a free-space planner, route graphs provided a structure path for mobile robots to follow when navigating through their environment. +Supported operations for the route tool include loading in existing route graphs, adding new nodes and edges, editing existing nodes and edges, removing nodes and edges, and saving changes to a new file. +By the end of this tutorial, you should feel comfortable creating and modifying route graphs using the route tool. Prerequisites ============ Prior to using the route tool, you will need to create an occupancy grid map using the slam_toolbox package. -Follow [this tutorial](https://roboticsbackend.com/ros2-nav2-generate-a-map-with-slam_toolbox/) for instructions on how to generate and save an occupancy grid map. +Follow `this tutorial `_ for instructions on how to generate and save an occupancy grid map. Tutorial Steps ==============