mapoi_webui

English version (primary): README.md 本ファイルは日本語スナップショットです。最新の内容は英語版を参照してください。

mapoi の Web UI パッケージです。 ブラウザから地図の表示、POI の編集、ルートの確認、ナビゲーション操作、ロボット位置の監視ができます。 スマートフォンやタブレットからも利用可能です。

機能

• 地図表示: 占有格子地図をブラウザ上に表示、地図の切り替え、ズームはホイール操作・ドラッグ・ピンチのみ対応（+/− ボタンは無し）
• POI 編集: POI の追加・編集・削除・保存（mapoi_server に自動リロード通知）。地図上の POI はシングルクリックで選択、ダブルクリックで編集パネルを開く、位置ロック解除トグル（既定はロック）を切り替えると選択中の POI をドラッグで移動、扇形（yaw 制約）の先端ハンドルをドラッグで向き（yaw）を回転（いずれも Save で確定）。編集操作は Undo/Redo（Ctrl+Z / Ctrl+Shift+Z）に対応、モバイルではパネルを開かなくても地図上のフローティング Undo ボタンで直前の操作を取り消せる
• ルート表示: ルートのポリライン表示、矢印マーカー、表示/非表示の切り替え
• ナビゲーション操作: POI へのゴール走行、ルート走行、一時停止・再開、停止
• スマホ表示: Navigation を優先して開き、地図は画面の半分程度を確保
• ナビゲーション backend 検出: mapoi/nav/backend_status readiness topic (#198) 駆動で Navigation connected / unavailable バッジを UI に表示。command topic の subscriber 数による検出は、readiness topic 未受信時の capabilities payload (/api/mode および /api/nav/status の navigation フィールド) の best-effort フォールバックとしてのみ残る
• 自己位置推定 backend 検出: mapoi/localization/backend_status readiness topic (#209) 駆動で Localization connected バッジを表示し、Set Initial Pose UI を gate する
• 自己位置推定リセット: POI 選択による Initial Pose の設定
• ロボット位置表示: TF (map → base_link) によるリアルタイムのロボット位置マーカー表示
• タグシステム: システムタグ・ユーザータグの表示、タグによる POI 色分け
• UI 表示設定: UI 全体（ヘッダー・POI パネル）の表示/非表示トグル、POI パネルを地図上に重ねる半透明オーバーレイ表示（不透明度調整可、設定は保持）

ノード

mapoi_webui_node

Flask ベースの HTTP サーバーを内蔵した ROS2 ノードです。

パラメータ

パブリッシャー

サービスクライアント

サブスクライバー

TF

REST API

v1.0.0 に向けて URL 階層を editor 系 (/api/editor/*)・nav 系 (/api/nav/*) に分離しています (#340)。「作用対象」列は各 endpoint が触れる範囲を示します:

• 編集 context のみ: mapoi_server 内部の編集対象 (map context / YAML) を変更するだけで、稼働中の実ロボット・Nav2 には一切作用しません
• 実ロボットに作用: Nav2 / navigation backend (mapoi_nav2_bridge 等) に指示を送り、稼働中のロボットの挙動 (走行・地図切替・自己位置) を変えます
• 読み取りのみ: 状態取得のみで副作用はありません

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Changelog for package mapoi_webui

This per-package file lists only the changes affecting mapoi_webui (the mapoi_webui_node REST/SSE backend and the WebUI frontend), in the flat format expected by bloom / buildfarm. Full project-level narrative: root CHANGELOG.rst / the GitHub Releases page.

Forthcoming

0.6.0 (2026-07-15)

• Flip the UI toggle (☰) aria-pressed semantics so the button lights up (blue) while the UI panel is shown, matching the lock button's "on by default" look (#449).
• Vendor Leaflet under web/vendor/leaflet/ and serve it from a new /vendor/<path> static route instead of loading it from the unpkg.com CDN, so the WebUI works fully offline (#394).
• Add a Help overlay (? button / modal, also opened with the ? key) listing shortcuts and map/edit/save/POI-list/Navigation usage; Escape closes it with top priority over other shortcuts, and while it is open all other owned shortcuts are disabled to prevent accidental actions behind the modal (#391).
• Add L / U single-key shortcuts to toggle POI position-drag lock and UI panel visibility, driving the existing toggle buttons through a single code path; modifier combinations (e.g. Ctrl+L) and key repeat are ignored (#390).
• Add a name search box to the POI list: case-insensitive substring match on poi.name, filtering the list only (map markers and the current selection are unaffected) (#383).
• Pan the map to the selected POI when it is picked from the POI list (or Navigation dropdown) and falls outside the current viewport; selections originating from a map click are never panned since the clicked POI is already visible (#382).
• Warn on tab close / reload / navigation via beforeunload when a POI/route/tag editor is dirty or has an open edit form, reusing the same blocker definition as the SSE reload guard (#380).
• Show a world-coordinate readout (x: ..., y: ..., formatted to the POI YAML's decimal precision) that follows the mouse over the map and hides on mouseout or non-finite coordinates (#381).
• Skip the SSE-triggered full reload when a tab's own Save round-trips back to it: config_changed payloads now carry a config_version (sha256), and the frontend treats a matching version as self-originated, avoiding the undo-history and map-viewport reset that a spurious reload used to cause; a "Saved" toast (shown on a successful Ctrl+S save) now gives the save-confirmation feedback that the reload flicker previously provided (#384).
• Add Ctrl+S / Cmd+S to save all dirty editors, committing an open edit form first (via its OK-equivalent validation) before saving; shows a "No unsaved changes" toast when there is nothing to save, and ignores key repeat and re-entry while a save is in flight (#375).
• Add a Delete key shortcut to remove the selected POI, with no confirmation dialog — the deletion only touches the working copy and is undoable with Ctrl+Z, so an undo-hint toast is shown instead; ignored while an input is focused or a route/POI form is open (#374).
• Guard the SSE config_changed full reload against silently discarding a dirty tab's unsaved edits and undo history: reload is now held and offered as an OK/Cancel choice (load latest vs. keep editing) whenever a POI/route/tag editor is dirty or has an open edit form (#373).

0.5.0 (2026-07-10)

• Add a machine-readable code field to every JSON error response, and extend the optimistic-concurrency expected_version check to POST /api/routes and POST /api/custom_tags (409 + version_mismatch) (#343, #363).
• Forward mapoi/nav/command_rejected as an SSE command_rejected event and show an auto-dismissing toast in the frontend (#354).
• Allow the selected POI's marker to be dragged on the map to update pose.x / pose.y in the working copy (saved on Save) (#239, #274).
• Add a rotation handle on the tolerance sector tip to adjust pose.yaw by dragging (#275, #276).
• Separate select from edit: a single click selects a POI, a double-click opens the edit form (#240, #272).
• Render a yaw-agnostic POI tolerance (tolerance.yaw >= pi) as a filled disc and clean up the degree display (#267, #268, #271).
• Highlight a POI/route on the map when picked from the Navigation dropdowns (#262, #278).
• Add Undo/Redo to the POI editor (per-mutation snapshot stack capped at 50), with dirty-state derived from saved content (#300, #301).
• GET /api/pois returns a config_version (sha256) and POST /api/pois rejects a stale write with 409; frontend surfaces a reload-confirmation dialog (#241, #245).
• Add a floating button to toggle the header/panel UI and a Display section with a floating-overlay mode plus a UI-opacity slider (persisted in localStorage) (#323, #324, #325).
• Add a floating Undo icon on narrow screens and centralize the route-editor reload guard at the loadRoutes() call sites (#332, #334).
• Reorganize the REST URL hierarchy under /api/editor/ (editor) vs /api/nav/ (running robot) and unify separators on kebab-case; old paths return 404 (#340, #343).
• Split map-viewer.js into map-icons.js + MapViewerSector and extract the custom-tag UI into a TagEditor class; internal refactor, no behavior change (#346).
• Remove the map zoom +/- buttons and lock POI position-drag editing

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