Currently, we detect the dock and use the vision control loop to drive into the dock. If you have sensors in the back, you can set the staging pose to reversed & dock_backwards to dock. If you do not have sensors in back, there should be an option to dock_backwards but stage forward, thus needs:
Detect dock
Rotate to 180 deg heading
Reverse into the dock (without updates to detected pose)
We'd just need to add the option for that 180 maneuver
Currently, we detect the dock and use the vision control loop to drive into the dock. If you have sensors in the back, you can set the staging pose to reversed &
dock_backwardsto dock. If you do not have sensors in back, there should be an option todock_backwardsbut stage forward, thus needs:We'd just need to add the option for that 180 maneuver