jetson/ros2_ws/src/saltybot_docking/config/docking_params.yaml

@@ -17,7 +17,7 @@
     ir_threshold: 0.50           # amplitude threshold for beacon detection
 
     # ── Battery thresholds ────────────────────────────────────────────────────
-    battery_low_pct:  20.0       # SOC triggering auto-dock (%) — Issue #489
+    battery_low_pct:  15.0       # SOC triggering auto-dock (%)
     battery_high_pct: 80.0       # SOC declaring charge complete (%)
 
     # ── Visual servo ──────────────────────────────────────────────────────────
@@ -26,8 +26,8 @@
     k_angular:          0.80     # yaw P-gain
     lateral_tol_m:      0.005    # ±5 mm alignment tolerance
     contact_distance_m: 0.05     # distance below which contact is assumed (m)
-    max_linear_ms:      0.10     # forward speed ceiling during servo (m/s) — conservative for FC+hoverboard (Issue #475)
+    max_linear_ms:      0.10     # forward speed ceiling during servo (m/s)
-    max_angular_rads:   0.30     # yaw rate ceiling (rad/s) — conservative for FC+hoverboard (Issue #475)
+    max_angular_rads:   0.30     # yaw rate ceiling (rad/s)
 
     # ── Undocking maneuver ────────────────────────────────────────────────────
     undock_speed_ms:   -0.20     # reverse speed (m/s; must be negative)

jetson/ros2_ws/src/saltybot_docking/saltybot_docking/docking_node.py

@@ -76,7 +76,7 @@ from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 
 from geometry_msgs.msg import PoseStamped, Twist
 from sensor_msgs.msg import BatteryState, CameraInfo, Image
-from std_msgs.msg import Bool, Float32, String
+from std_msgs.msg import Bool, Float32
 
 from saltybot_docking.charge_monitor import ChargeEvent, ChargeMonitor
 from saltybot_docking.dock_detector import ArucoDetector, DockPose, IRBeaconDetector
@@ -209,9 +209,6 @@ class DockingNode(Node):
         self._resume_pub = self.create_publisher(
             Bool, "/saltybot/resume_mission", reliable
         )
-        self._docking_state_pub = self.create_publisher(
-            String, "/saltybot/docking_state", reliable
-        )
         self._status_pub = None
         if _MSGS_OK:
             self._status_pub = self.create_publisher(
@@ -386,11 +383,6 @@ class DockingNode(Node):
             self._cmd_vel_pub.publish(twist)
 
         # ── Status ────────────────────────────────────────────────────────────
-        # Publish docking state (Issue #489)
-        state_msg = String()
-        state_msg.data = out.state.value
-        self._docking_state_pub.publish(state_msg)
-
         if self._status_pub is not None:
             self._publish_status(inp, out)