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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Nav2 Docking: Option for Non-Charging Dock Plugin Types #4405

Open SteveMacenski opened 4 weeks ago

SteveMacenski commented 4 weeks ago

If you want to "dock" with a non-charging type, we can easily add in a new plugin type for a non-charging docking maneuver. For example: docking with a convey belt or another robot.

It should be straight forward: have a non-charging dock plugin type and adjust the logic that if we're a non-charging dock to bypass certain parts of the process. We just rely more heavily on user-defined plugin for the specific situation to understand when "done" is done (though the tolerance is a pretty good and reliable metric as we found in docking even without the joint state motor efforts)

redvinaa commented 6 days ago

Summing up https://github.com/open-navigation/opennav_docking/issues/44: How to implement a scenario where a robot has to dock both forward and backward (for example, forward to a table / conveyor belt, and backward to actually charge)? An option is to run two docking_server instances.

SteveMacenski commented 6 days ago

^ Or have the option for reversing to be a feature of the dock not of the system like we have today. Food for thought.