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feat(controls): Docking station auto-return — low-battery homing + charging alignment #158

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opened 2026-03-02 10:08:14 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 10:08:14 -05:00
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Summary

Autonomous return-to-dock behavior when battery is low, with precision alignment for charging contacts.

Requirements

  • Dock detection: ArUco marker or IR beacon on charging dock for visual homing
  • Homing behavior: At 15% battery, interrupt current mission and navigate to dock
  • Precision approach: Final 1m approach using visual servoing for contact alignment
  • Charging contacts: Spring-loaded pogo pins, ±5mm alignment tolerance
  • Charge monitoring: Detect charging state, resume mission when battery >80%
  • ROS2 services: /saltybot/dock (manual dock), /saltybot/undock
  • Nav2 integration: Dock pose as saved waypoint, approach corridor in costmap

Agent: sl-controls

Labels: phase-2, docking

## Summary Autonomous return-to-dock behavior when battery is low, with precision alignment for charging contacts. ## Requirements - **Dock detection**: ArUco marker or IR beacon on charging dock for visual homing - **Homing behavior**: At 15% battery, interrupt current mission and navigate to dock - **Precision approach**: Final 1m approach using visual servoing for contact alignment - **Charging contacts**: Spring-loaded pogo pins, ±5mm alignment tolerance - **Charge monitoring**: Detect charging state, resume mission when battery >80% - **ROS2 services**: /saltybot/dock (manual dock), /saltybot/undock - **Nav2 integration**: Dock pose as saved waypoint, approach corridor in costmap ## Agent: sl-controls ## Labels: phase-2, docking
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#158
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