Actually describe the main ideas of the integrated docking solution in section 4.2

tbohne / msc

Master's Thesis at Osnabrueck University / DFKI

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Actually describe the main ideas of the integrated docking solution in section 4.2 #223

Closed tbohne closed 2 years ago

tbohne commented 2 years ago

~~- both state machines + detection (Hough transform + hand tailored rules etc.)~~

~~container URDF~~

tbohne commented 2 years ago

~~clear costmaps after undocking due to ramp movement -- obstacles~~

tbohne commented 2 years ago

~~PROBLEM:~~

when launching a contingency due to a failed undocking procedure, afterwards, the action "charge" is repeated, but charge also includes "docking", which is a problem as the robot is already inside..

one solution would be to let docking be part of "return_to_base" and not of "charge"

~~I think that also makes sense semantically~~

tbohne commented 2 years ago

~~- ah, right, that is not sufficient either~~

if undocking fails and it is part of charging, the robot will also charge again

actually.. perhaps not even so bad, it can go back to 100% then as the udocking fail might have wasted some energy..

~~will leave it like that for now~~

tbohne commented 2 years ago

necessary during docking

tbohne commented 2 years ago

https://github.com/tbohne/execution_monitoring/commit/7ec731cfa88396dbfba75efacc43ff418393dd35 https://github.com/tbohne/execution_monitoring/commit/a9a5e67f55af67482590366a0f4129ddc0aa5809