saltylab-firmware

seb/saltylab-firmware

Fork 0

Commit Graph

Author	SHA1	Message	Date
sl-controls	340248a0d2	feat: Add docking state publisher and update configuration (Issue #489 ) - Add /saltybot/docking_state publisher (std_msgs/String) for monitoring - Update docking_params.yaml battery_low_pct: 15% → 20% - Add Issue #475 references for conservative servo speeds Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-05 17:08:48 -05:00
sl-mechanical	fdc44f7025	feat: Issue #410 - Auto-dock charging with 20% SoC trigger and charging animation - Update battery_low_pct from 15% to 20% for auto-dock trigger (Issue #410 requirement) - Add social mood publisher for charging animation display - Trigger face charging animation (happy mood) when entering CHARGING state - ArUco marker ID 42 detection via RealSense D435i (already configured) - Approach sequence: detect → align → slow → contact → verify charging - 360° search then expand capability (DETECTING state handles search) - Safety abort timeouts already implemented in FSM state machine - IR beacon fallback detection also available	2026-03-04 22:44:15 -05:00
sl-controls	783dedf4d4	feat(#158 ): docking station auto-return with ArUco/IR detection and visual servo Two new ROS2 packages implementing Issue #158: saltybot_docking_msgs (ament_cmake) - DockingStatus.msg: stamp, state, dock_detected, distance_m, lateral_error_m, battery_pct, charging, aligned - Dock.srv / Undock.srv: force + resume_mission flags saltybot_docking (ament_python, 20 Hz) - dock_detector.py: ArucoDetector (cv2.aruco PnP → DockPose) + IRBeaconDetector (EMA envelope with amplitude threshold); both gracefully degrade if unavailable - visual_servo.py: IBVS proportional controller — v = k_lin×(d−target), ω = −k_ang×yaw; aligned when \|lateral\| < 5mm AND d < contact_distance - charge_monitor.py: edge-triggered events (CHARGING_STARTED/STOPPED, THRESHOLD_LOW at 15%, THRESHOLD_HIGH at 80%) - docking_state_machine.py: 7-state FSM (IDLE→DETECTING→NAV2_APPROACH→ VISUAL_SERVO→CONTACT→CHARGING→UNDOCKING); mission_resume signal on auto-dock cycle; contact retry on timeout; lost-detection timeout - docking_node.py: 20Hz ROS2 node; Nav2 NavigateToPose action client (optional); /saltybot/dock + /saltybot/undock services; /saltybot/docking_cmd_vel; /saltybot/resume_mission; /saltybot/docking_status - config/docking_params.yaml, launch/docking.launch.py Tests: 64/64 passing (IRBeaconDetector, VisualServo, ChargeMonitor, DockingStateMachine — all state transitions and guard conditions covered) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 10:19:22 -05:00

Author

SHA1

Message

Date

sl-controls

340248a0d2

feat: Add docking state publisher and update configuration (Issue #489 )

- Add /saltybot/docking_state publisher (std_msgs/String) for monitoring
- Update docking_params.yaml battery_low_pct: 15% → 20%
- Add Issue #475 references for conservative servo speeds

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-05 17:08:48 -05:00

sl-mechanical

fdc44f7025

feat: Issue #410 - Auto-dock charging with 20% SoC trigger and charging animation

- Update battery_low_pct from 15% to 20% for auto-dock trigger (Issue #410 requirement)
- Add social mood publisher for charging animation display
- Trigger face charging animation (happy mood) when entering CHARGING state
- ArUco marker ID 42 detection via RealSense D435i (already configured)
- Approach sequence: detect → align → slow → contact → verify charging
- 360° search then expand capability (DETECTING state handles search)
- Safety abort timeouts already implemented in FSM state machine
- IR beacon fallback detection also available

2026-03-04 22:44:15 -05:00

sl-controls

783dedf4d4

feat(#158 ): docking station auto-return with ArUco/IR detection and visual servo

Two new ROS2 packages implementing Issue #158:

saltybot_docking_msgs (ament_cmake)
- DockingStatus.msg: stamp, state, dock_detected, distance_m, lateral_error_m,
  battery_pct, charging, aligned
- Dock.srv / Undock.srv: force + resume_mission flags

saltybot_docking (ament_python, 20 Hz)
- dock_detector.py: ArucoDetector (cv2.aruco PnP → DockPose) + IRBeaconDetector
  (EMA envelope with amplitude threshold); both gracefully degrade if unavailable
- visual_servo.py: IBVS proportional controller — v = k_lin×(d−target),
  ω = −k_ang×yaw; aligned when |lateral| < 5mm AND d < contact_distance
- charge_monitor.py: edge-triggered events (CHARGING_STARTED/STOPPED,
  THRESHOLD_LOW at 15%, THRESHOLD_HIGH at 80%)
- docking_state_machine.py: 7-state FSM (IDLE→DETECTING→NAV2_APPROACH→
  VISUAL_SERVO→CONTACT→CHARGING→UNDOCKING); mission_resume signal on
  auto-dock cycle; contact retry on timeout; lost-detection timeout
- docking_node.py: 20Hz ROS2 node; Nav2 NavigateToPose action client (optional);
  /saltybot/dock + /saltybot/undock services; /saltybot/docking_cmd_vel;
  /saltybot/resume_mission; /saltybot/docking_status
- config/docking_params.yaml, launch/docking.launch.py

Tests: 64/64 passing (IRBeaconDetector, VisualServo, ChargeMonitor,
DockingStateMachine — all state transitions and guard conditions covered)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-02 10:19:22 -05:00

3 Commits