Charging Dock Plugin based on dock pose subscriber

delihus commented 1 month ago

Description

The previous implementation based on tfs didn't work with a real robot. This approach is more similar to SimpleDockCharger.

Requirements

[x] Firstly merge this https://github.com/husarion/ros_components_description/pull/55
[x] Update .repos
[x] Code style guidelines followed
[x] Documentation updated

Tests 🧪

[x] Robot
[x] Container
[x] Simulation

Summary by CodeRabbit

Release Notes

New Features
- Introduced the DockPosePublisherNode for publishing docking pose information.
- Added a new executable target for the dock_pose_publisher.
- Enhanced logging capabilities with a configurable log level in launch files.
- Updated the PantherChargingDock class to utilize a subscription-based model for pose updates.
Documentation
- Updated the README to include details about the new DockPosePublisherNode and its parameters.
Bug Fixes
- Improved error handling in the PantherChargingDock class for pose detection.
- Adjusted parameters for better performance in the panther_charging_dock configuration.
Chores
- Added a dependency on xacro in the package configuration.
- Removed outdated unit tests and replaced them with a new suite for better coverage.

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Walkthrough

The pull request introduces significant changes to the panther_docking project, including the addition of a new executable target dock_pose_publisher and a new ROS 2 node for publishing docking pose information. The CMakeLists.txt has been updated to reflect these changes, including modifications to the existing library and test targets. The README has been reorganized to clarify the roles of new and existing nodes, while configuration parameters in panther_docking_server.yaml have been updated or removed. The PantherChargingDock class has undergone structural changes, transitioning from a publisher-based to a subscription-based model for pose management.

Changes

File	Change Summary
`panther_docking/CMakeLists.txt`	Added executable `dock_pose_publisher`, updated library include directories, modified test target to reference new test source file.
`panther_docking/README.md`	Added `DockPosePublisherNode`, restructured `PantherChargingDock` section, updated published and subscribed topics, modified parameters.
`panther_docking/config/panther_docking_server.yaml`	Removed several parameters, updated `docking_distance_threshold`, `docking_yaw_threshold`, and other parameters related to docking and controller settings.
`panther_docking/include/panther_docking/panther_charging_dock.hpp`	Removed multiple pose management methods, added `setDockPose`, replaced publisher with subscription for dock pose.
`panther_docking/launch/docking.launch.py`	Added `log_level` launch argument, introduced `dock_pose_publisher` node.
`panther_docking/launch/station.launch.py`	Updated default values for `apriltag_id` and `apriltag_size` launch arguments.
`panther_docking/package.xml`	Added new execution dependency on `xacro`.
`panther_docking/src/dock_pose_publisher_node.cpp`	Introduced `DockPosePublisherNode` class with methods for publishing docking pose.
`panther_docking/src/panther_charging_dock.cpp`	Transitioned from publishing to subscribing for dock pose, simplified parameters, enhanced error handling in several methods.
`panther_docking/test/test_panther_charging_dock.cpp`	Deleted existing test file containing unit tests for `PantherChargingDock`.
`panther_docking/test/unit/test_panther_charging_dock.cpp`	Added new unit tests for `PantherChargingDock`, including a wrapper class for testing.

Possibly related PRs

#301: The changes in the main PR regarding the addition of the dock_pose_publisher executable and modifications to the PantherChargingDock class are related to the refactoring of the manager_bt_node and the introduction of new nodes in the panther_manager module, which may involve similar structural changes and enhancements in functionality.
#407: The restructuring of unit tests to enhance independence from hardware dependencies aligns with the changes in the main PR that introduce a new node (DockPosePublisherNode) and modify the testing framework for the PantherChargingDock, indicating a focus on improving testability and modularity in both cases.

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delihus commented 1 month ago

@coderabbitai review this

coderabbitai[bot] commented 1 month ago

@delihus: I will review the changes.

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Review triggered. > Note: CodeRabbit is an incremental review system and does not re-review already reviewed commits. This command is applicable only when automatic reviews are paused.

delihus commented 4 weeks ago

@coderabbitai could you review after the suggestions?

coderabbitai[bot] commented 4 weeks ago

@delihus: You requested a review after your suggestions. I will re-review all the changes.

:white_check_mark: Actions performed

Full review triggered.

rafal-gorecki commented 3 weeks ago

Please add changes to vcs

husarion / panther_ros