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automaticaddison / two_wheeled_robot

Two wheeled robot using ROS 2 Galactic
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The auto docking function is not working #3

Open Phymin opened 1 month ago

Phymin commented 1 month ago

Hi

I follow the tutorial https://automaticaddison.com/auto-docking-to-recharge-battery-aruco-marker-and-ros-2/, but the auto docking function is not working as described, the issue is after run the low_battery_pub.py script, the robot will not plan a path to the staging area, but still moves to the previous goal, am I missing some step here?

BTW, I am using ros2 humble

automaticaddison commented 1 month ago

Thanks. Check the prerequisites on the link you provided. I believe the first prerequisite is ROS 2 Galactic. Also make sure to go through all the prerequisites (including the Optional ones). As you go through and find errors, you can update each piece for ROS 2 Humble.

I am currently writing tutorials for autonomous docking for ROS 2 Jazzy (latest version of ROS 2). These should be released later this year.

On Wed, Jul 10, 2024 at 6:28 AM Phymin @.***> wrote:

Hi

I follow the tutorial https://automaticaddison.com/auto-docking-to-recharge-battery-aruco-marker-and-ros-2/, but the auto docking function is not working as described, the issue is after run the low_battery_pub.py script, the robot will not plan a path to the staging area, but still moves to the previous goal, am I missing some step here?

BTW, I am using ros2 humble

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Phymin commented 1 month ago

Thanks for your reply, I do find an version issue related with amcl configuration, except that I don't encounter other issues. After read the code, I think the issue may be because in the navigation parameter file, you are still using the default bt tree which will not handle the battery state, but not using the customized bt tree, what do you think?

automaticaddison commented 1 month ago

Great! Yes AMCL changed to a new configuration for Humble. Glad you got it working.

I will not be keeping this package up to date with the latest ROS 2 versions, but I will have a new package for another robot coming out which I will keep maintained. Thank you!

On Thu, Jul 11, 2024, 12:07 AM Phymin @.***> wrote:

Thanks for your reply, I do find an version issue related with amcl configuration, except that I don't encounter other issues. After read the code, I think the issue may be because in the navigation parameter file, you are still using the default bt tree which will not handle the battery state, but not using the customized bt tree, what do you think?

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