Map Loading And Wavefront Inquiry

Short answer

• Yes - Wavefront needs an occupancy grid / map to plan on. It does not create a map by itself; it expects a Level #1 map source from the NMS (Navigation Messaging System).
• You can provide that map in two ways:
  1. Build a map in ARC with a Level #1 mapping skill (EZSLAM, The Better Navigator, etc.) fed by Level #3 sensors (360 LIDAR or depth scanner + localization such as T265, encoders, or another Group #2 sensor). The mapping skill publishes the occupancy grid to the NMS and Wavefront will consume it.
  2. Use a mapping skill that supports loading a saved map file (if available), then that mapping skill publishes the loaded map into the NMS for Wavefront to use.

Why you don’t see a "Load map" option in Wavefront

• Many Wavefront implementations (including rz90208’s Wavefront skill) are headless consumers of the NMS occupancy grid and therefore don’t include their own map load UI. That’s why clicking the three-dots or three-lines in the Wavefront skill may not show configuration - the skill simply expects a map already present in the NMS.
• Also make sure you are opening the skill’s hamburger (three horizontal lines) in the top-right of the skill window for settings. If nothing opens, the skill author did not include a settings pane.

Recommended procedure (step-by-step) to get Wavefront working with a map

1. Add the sensors and mapping skills:
   • Project -> Add robot skill -> add your LIDAR skill (or other L3 Group #1 sensor).
   • Project -> Add robot skill -> add a localization/pose skill (L3 Group #2) such as Intel T265, encoders, etc.
   • Project -> Add robot skill -> add EZSLAM (or The Better Navigator if you prefer). These are the Level #1 mapping skills that will assemble the occupancy grid and publish to the NMS.
2. Configure each sensor skill so they are publishing to NMS (verify each sensor skill’s settings - many have UIs for COM, IP, or device selection).
3. Start the sensors and mapping skill (EZSLAM). Drive the robot to build the map (or rotate the LIDAR around) - the mapping skill should populate the NMS map display.
4. Add Wavefront to the project (Project -> Add robot skill -> Wavefront).
5. With a map active in the NMS (from EZSLAM/the mapping skill) Wavefront should be able to read the occupancy grid and compute paths. Use the map UI provided by the mapping skill to set start/goal or interact with Wavefront as supported by that mapping skill.

If you want to load a saved map file

• Check the mapping skill (EZSLAM or Better Navigator) for "Load map" / "Import" UI in the skill window or its kebab/hamburger menu. Load the saved map there; once loaded, the mapping skill will publish the occupancy grid to NMS and Wavefront will see it.
• If your mapping skill doesn’t have a load option, you may need to use whichever mapping skill supports map import (The Better Navigator often has more map/load options) or create a small skill to publish your occupancy grid into the NMS.

Status of Wavefront feature completeness

• Functionally Wavefront (wavefront propagation algorithm) is a complete planner - it will compute grid-cell optimal paths if an occupancy grid is available in the NMS.
• What is often missing is a dedicated Wavefront configuration GUI for map import or offline map management - that capability is handled by Level #1 mapping skills (EZSLAM, Better Navigator). If you need a more integrated map load/save UI you’ll generally use a mapping skill that provides it and let Wavefront consume the published NMS map.
• Because Wavefront is a community/thirdparty skill (author rz90208), small UI features or map-specific import dialogs may or may not be implemented - check the Wavefront skill page and changelog for updates.

Useful links

• Wavefront skill: https://synthiam.com/Support/Skills/Navigation/Wavefront?id=15874
• EZSLAM skill: https://synthiam.com/Support/Skills/Navigation/EZ-SLAM?id=15944
• Navigation Messaging System (NMS) overview: https://synthiam.com/Support/ARC-Overview/robot-navigation-messaging-system
• The Better Navigator (recommended mapping/navigator): https://synthiam.com/Support/Skills/Navigation/The-Better-Navigator?id=20956
• How to make a robot (map & navigation tutorial): https://synthiam.com/Support/Get-Started/how-to-make-a-robot/autonomous-navigation
• Create a robot skill (if you want to add UI/map import to Wavefront): https://synthiam.com/Support/Create-Robot-Skill/Overview

Next steps / questions for you

• Do you have a 360 LIDAR or another sensor and a localization sensor (T265/encoders)? If yes, start EZSLAM and tell me whether the SLAM skill is showing a map in its window.
• Do you have a saved map file you want to load, or do you want to build one live with LIDAR?
• When you open Wavefront, do you see any map display at all? (If yes, upload a screenshot of Wavefront + EZSLAM windows and I’ll guide the next steps.)

If you want, I can give a quick checklist tailored to your AdventureBot setup (which ports/skills to add and what settings to check). Which sensors and localization hardware are you using?