Path Editing Features

The Path Editor is a tool for editing the topology-based path the robot will drive. It manages path data together with a PostgreSQL/PostGIS database.

Screen Layout

• Left panel: Layer management, property editing
• Center area: Path overlaid on a satellite map (OpenLayers)
• Right panel: Detailed properties of the selected feature

Load DB Layers Button

A green button (with a database icon) that loads the DB layers.

• Clicking it fetches layer data from the configured DB connection
• Displays an error message if no data exists or the connection fails

DB Layers

Data layers loaded from PostgreSQL:

• route_node: Path nodes
• route_edge: Path edges
• market: POIs / markers

Map Layers

Use Open in the Tile Map section to load the desired map into the map list.

Editing Modes and Keyboard Shortcuts

Switch between the following modes using the top toolbar. You can also activate each mode with a keyboard shortcut. Only one mode can be active at a time.

Mode	Shortcut	Color	Function
Edit Mode	Q	Orange	Select and edit existing nodes/edges
Node Mode	W	Cyan	Add new nodes and connect edges
POI Mode	E	Pink	Add Points of Interest (POI)
Delete Mode	R	Red	Delete nodes/edges/POIs
Cancel/Deselect	Escape	—	Cancel the current selection

Button States and Interaction

Each mode button has different colors for the inactive (default) and active states.

State	Appearance
Inactive	Dark background, gray text (border-white/10 bg-white/5 text-gray-400)
Active	Mode-color background + white text + ” ON” suffix on the label
Hover	Slightly brighter background (hover:bg-[#252525] hover:text-white)

For example, when POI Mode is active, the button shows “POI Mode ON” and is highlighted in pink.

Edit Mode (Q)

Select existing nodes and edges to modify them.

• Move node: Drag a node to change its position
• Select edge: Click an edge to edit its properties
• Multi-select: Ctrl + click to select multiple features
• When Edit Mode is active, the Allocate Tag button is additionally shown in the toolbar

Allocate Tag Button

A button that appears only in Edit Mode; it automatically assigns tags to the selected nodes/edges.

State	Appearance
Default	Orange background + tag icon
Allocating	Spinner + “Allocating…” text
Completed	Returns to the default state

Node Mode (W)

Add new nodes.

• Click the desired location on the map to create a node
• Consecutive clicks automatically connect the nodes with edges

POI Mode (E)

Add Points of Interest.

• Click on the map to set the POI location
• Select the POI type (charging station, waiting point, pick-up/drop-off point, etc.)

Delete Mode (R)

Delete the selected feature.

• Clicking a node or edge deletes it
• Deleting a node also deletes any edges connected to it

Property Editing

Edit the properties of the selected edge in the right panel:

Property	Description	Values
Road Type	Type of road	Sidewalk / Roadway / Crosswalk
Path Type	Type of path	Bidirectional / One-way
Spatial Type	Spatial type	Outdoor / Indoor / Underground
Speed	Speed limit	0.5 – 2.0 m/s

Satellite Map Background

Switch the background using the Satellite selector on the left side of the toolbar:

Option	Description
Google	Google satellite imagery
Kakao	Domestic high-resolution satellite (default)
OpenStreetMap	OpenStreetMap topographic map

Typical Workflow

1. [Load DB Layers] → Load existing path data from the DB
2. Activate Node Mode (W) → Click on the map in order to add nodes
3. Escape → Exit Node Mode
4. Activate Edit Mode (Q) → Click/drag nodes to adjust their positions
5. Click an edge → Set Road Type, Speed, etc. in the right panel
6. (Optional) Allocate Tag → Automatically assign tags
7. Data is automatically saved to the DB as soon as it is edited

Coordinate System

The Path Editor supports the URDF coordinate system. Conversion between the robot’s local coordinates and GPS coordinates happens automatically.

Data Storage

Edited path data is saved to the DB immediately. Changes are reflected in real time without a separate save button.