support external marker detection

open-navigation / opennav_docking

Nav2 Compatible Docking Task Server & BT Utils

Apache License 2.0

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support external marker detection #12

Closed mikeferguson closed 5 months ago

mikeferguson commented 5 months ago

subscribe to marker topic
add parameters for marker->dock transformation
publish debug topics

mikeferguson commented 5 months ago

@SteveMacenski - update on current state:

This works with https://github.com/mikeferguson/image_pipeline/tree/track_marker
I can approach the "dock" - that all looks good
Returning to staging pose using the control law seems to be broken on a real robot - the robot makes some drastic turns which seems to indicate the "backward" part isn't working. I'll continue debugging tomorrow.

mikeferguson commented 5 months ago

This commit https://github.com/open-navigation/opennav_docking/commit/dc8ef8a168f55f8dbfff87cab4afbd4fc25d987f has the launch files I'm using

mikeferguson commented 5 months ago

I've added the "force into 2d" and "filter the pose" to https://github.com/open-navigation/opennav_docking/issues/10 - I'm going to merge this since it's in a good place and I can continue to build off it with smaller PRs.

mikeferguson commented 5 months ago

Also - track marker node is merged to rolling - https://github.com/ros-perception/image_pipeline/pull/930 - still need to back port to iron and humble (and waiting for some unknown amount of time until the doc job runs and the docs for the node will appear on docs.ros.org)