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Interactive Viewer

map_data_viewer launches a local Flask web server with a Leaflet-based map UI. It lets you inspect and edit parsed features, view their OSM tags, draw manual annotations, and plan paths — without needing ROS2.

Running the Viewer

# After colcon build and sourcing the workspace:
map_data_viewer

# Explicit data directory and port:
map_data_viewer --data-dir /path/to/data --port 8080

# Standalone (outside a colcon workspace):
python -m map_data.viewer.app --data-dir ./data

Then open http://127.0.0.1:5000 in a browser.

Loading Map Data

The viewer loads files from its data directory (default: the package data/ folder, overridable with --data-dir). Supported file formats:

  • .mapdata — pre-parsed map files created by create_mapdata. Loaded immediately with no network request.
  • .gpx — raw GPS tracks. The viewer parses them on load by fetching OSM data for the track bounds.

You can also drag and drop a .gpx file directly onto the map.

Modes

The viewer has three modes, switched via the tabs in the top-right corner:

Mode Description
Viewer Inspect features, manage layers, draw manual annotations.
Planner Design missions and plan paths using graph-based or all-terrain algorithms.
Tracker Monitor a live robot via ROS2 telemetry. Requires a running ROS2 context.