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osrf / autodock

ROS packages for automatic docking
Apache License 2.0
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Can i use 1 Tag instead of 3? #14

Open UsamaArshad16 opened 1 year ago

UsamaArshad16 commented 1 year ago

Can i use 1 Tag instead of 3?

LKSeng commented 1 year ago

If you want to use 1 Tag you'll need to modify the code. You can start by looking at the do_predock() function, and change the line centre_tf = self.get_centre_of_side_markers() to something that uses only 1 marker.

Preempting the question of why 3 markers are used instead of 1, I am not the author of the code, but I have hypothesised some reasons why the 3 Tags are used here.

youliangtan commented 1 year ago

Yes the above comments are right. When looking at the state machine diagram on the readme, the sides markers are used during predock, and steerdock states. You can try to edit the way both do_single_side_marker_rotate() and get_centre_of_side_markers() are currently implemented. PR is always welcomed!