diff --git a/README.md b/README.md
index a0207c6..ffb0e71 100644
--- a/README.md
+++ b/README.md
@@ -18,11 +18,9 @@ Ros2d-quasar基于[Quasar Framework](https://quasar.dev/)开发，因此可以
与ROS的连接使用的是原生WebSocket，没有使用[roslibjs](https://github.com/RobotWebTools/roslibjs)
-如果想体验这个程序，可以使用[legubiao/amr_platform](https://github.com/legubiao/amr_platform)来使用Turtlebot启动仿真
-
-## 启动项目
+## 1. 启动项目
启动项目之前，请确保已安装LTS版本（双数版本号）的[Node.js](https://nodejs.org/en)和[Yarn](https://classic.yarnpkg.com/lang/en/docs/install)。如果已经安装好了nodejs，可以通过以下的指令安装yarn
@@ -42,12 +40,17 @@ yarn
quasar dev
```
+如果需要更新项目使用的quasar框架版本，可以使用以下指令：
+
+```bash
+yarn upgrade quasar
+```
+
+如果需要启动一个ROS仿真程序来进一步体验，可以参考：[legubiao/AMR-Remote-Control-Toolkit: A rospkg enable launch mapping through topic command and provide support for quasar-ros2d (github.com)](https://github.com/legubiao/AMR-Remote-Control-Toolkit)
-## 连接机器人
-## 构建项目并打包为Docker镜像
-也可以直接通过[DockerHub](https://hub.docker.com/repository/docker/legubiao/ros2d-quasar/general)下载使用
+## 2. 编译Docker镜像
构建项目
```bash
@@ -58,3 +61,8 @@ quasar build
```bash
docker build -t ros2d-quasar .
```
+
+已经配置Github Actions自动打包，也可以直接通过[DockerHub](https://hub.docker.com/repository/docker/legubiao/ros2d-quasar/general)下载使用镜像
+
+
+
diff --git a/src/components/amr-control/MapCreate.vue b/src/components/amr-control/MapCreate.vue
index 99d7be2..676ae42 100644
--- a/src/components/amr-control/MapCreate.vue
+++ b/src/components/amr-control/MapCreate.vue
@@ -28,22 +28,9 @@ function saveMap () {
mapCommand('save ' + data)
})
}
-
-function stopProcess () {
- $q.dialog({
- title: t('amr2d_stop_process'),
- message: t('amr2d_stop_process_description'),
- cancel: { label: t('cancel'), flat: true, color: 'secondary' },
- ok: { label: t('ok'), flat: true, color: 'primary', class: 'text-bold' },
- persistent: true
- }).onOk(() => {
- mapCommand('stop')
- })
-}
-
-
-
+
+
diff --git a/src/components/amr-control/RosMap2d.vue b/src/components/amr-control/RosMap2d.vue
index 0220c92..f6af285 100644
--- a/src/components/amr-control/RosMap2d.vue
+++ b/src/components/amr-control/RosMap2d.vue
@@ -9,6 +9,7 @@ import MapCreate from 'components/amr-control/MapCreate.vue'
import PoseManager from 'components/map-pose/PoseManager.vue'
import { useControlParams } from 'stores/control-params'
import { useVisualization } from 'stores/visualization'
+import TerminateProcess from 'components/amr-control/TerminateProcess.vue'
const rosClient = inject('rosClient')
const connected = inject('connected')
@@ -56,10 +57,12 @@ const robotRelocate = ref()
-
-
+
+
+
+
-
+
+
+
-
-
@@ -86,14 +90,3 @@ const robotRelocate = ref()
-
-
diff --git a/src/components/amr-control/TerminateProcess.vue b/src/components/amr-control/TerminateProcess.vue
new file mode 100644
index 0000000..7307aa3
--- /dev/null
+++ b/src/components/amr-control/TerminateProcess.vue
@@ -0,0 +1,27 @@
+
+
+
+
+
diff --git a/src/components/ros/RosClient.js b/src/components/ros/RosClient.js
index bdf3886..2f82878 100644
--- a/src/components/ros/RosClient.js
+++ b/src/components/ros/RosClient.js
@@ -104,7 +104,7 @@ export default function RosClient () {
case laserScanTopic: rosClient.loadLaserScan.value(rosObject.msg); break
case pathTopic: rosClient.loadPath.value(rosObject.msg); break
case trajectoryTopic: rosClient.loadTrajectory.value(rosObject.msg); break
- case '/map_state': mapState.value = rosObject.msg.data; break
+ case '/map_state': rosClient.mapState.value = rosObject.msg.data; break
}
}
@@ -151,8 +151,8 @@ export default function RosClient () {
}
rosClient.init = createWs
- const mapState = ref('idle')
- provide('mapState', mapState)
+ rosClient.mapState = ref('idle')
+ provide('mapState', rosClient.mapState)
provide('robotPose', rosClient.robotPose)
provide('subscribe', rosClient.subscribe)
provide('unsubscribe', rosClient.unsubscribe)
diff --git a/src/i18n/en-US/index.js b/src/i18n/en-US/index.js
index b705451..db56fa2 100644
--- a/src/i18n/en-US/index.js
+++ b/src/i18n/en-US/index.js
@@ -34,6 +34,7 @@ export default {
amr2d_navigation_relocate: 'Navigation & Relocate',
amr2d_focus: 'Focus on AMR',
+ amr2d_wait: 'Please wait for processing...',
amr2d_no_focus: 'Cancel Focus',
amr2d_relocate: '2D Pose Estimation',
amr2d_navigation: 'Set Nav Goal',
diff --git a/src/i18n/zh-CN/index.js b/src/i18n/zh-CN/index.js
index 98dfe5d..2b6b678 100644
--- a/src/i18n/zh-CN/index.js
+++ b/src/i18n/zh-CN/index.js
@@ -34,6 +34,7 @@ export default {
amr2d_navigation_relocate: '导航与重定位',
amr2d_focus: '视角跟随机器人',
+ amr2d_wait: '请等待后台程序处理...',
amr2d_no_focus: '取消视角跟随',
amr2d_relocate: '重定位机器人',
amr2d_navigation: '设定导航目标',
diff --git a/src/pages/AmrControl.vue b/src/pages/AmrControl.vue
index a1ee54f..f88eaef 100644
--- a/src/pages/AmrControl.vue
+++ b/src/pages/AmrControl.vue
@@ -1,11 +1,12 @@