simple dock plugin improvements

open-navigation / opennav_docking

Nav2 Compatible Docking Task Server & BT Utils

Apache License 2.0

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simple dock plugin improvements #10

Closed SteveMacenski closed 5 months ago

SteveMacenski commented 5 months ago

[x] staging pose offset parameter for 0.5m
[x] parameterized charging threshold / docking threshold
[x] Breakout cpp/hpp files.
[x] Optional: Apriltags get refined pose option?
[ ] IsCharging returns true when isDocked so that we don't need to have battery messages (For testing)
[x] Optional: use tolerance to pose for docking or motor current via standard status message
[x] Optional: filter detected dock poses

mikeferguson commented 5 months ago

First three items are in https://github.com/open-navigation/opennav_docking/commit/3cd04c4cdefa300ea9df9f5562b0b14a491ecfb5

SteveMacenski commented 5 months ago

Let me know what your back out issues were, I'm curious what I also missed in looking it over

mikeferguson commented 5 months ago

It's the not the control law - I've investigated that fully (will open a PR to nav2 in a bit with some extra tests that show that). I've got a branch with some thoughts in it - but haven't made it over to the office yet to test it on the robot.