explicit reverse and angular tolerance

open-navigation / opennav_docking

Nav2 Compatible Docking Task Server & BT Utils

Apache License 2.0

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explicit reverse and angular tolerance #16

Closed mikeferguson closed 8 months ago

mikeferguson commented 8 months ago

be explicit about when to drive in reverse, rather than using pose offset from robot (which can degrade when close to a goal)
rename undock_tolerance to undock_linear_tolerance
add undock_angular_tolerance so that robot is pointed at dock when doing reset

mikeferguson commented 8 months ago

I'll have a separate PR for the filter - once I get it cleaned up - but with these changes, the robot reliably approaches the "dock" and resets to the staging pose when it doesn't start charging (since it is just looking at a shelf)

SteveMacenski commented 8 months ago

For the filter, can you make that a new util? That will be useful to use for other docking plugins, be unit testable, & a separate class can manage its own coef variable.

mikeferguson commented 7 months ago

Yes - I've broken the filter out, and added tests - FUN FACT - in adding the tests, I figured out why things were so wonky initially when trying to do the transforms - the docs for tf2::Quaternion::setEuler could use an update (I'll open a PR to try and fix those docs)

SteveMacenski commented 7 months ago

Tag me in that PR, curious what you found