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[P2] Auto-dock charging — ArUco marker detection + approach sequence #410

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opened 2026-03-04 15:47:35 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-04 15:47:35 -05:00
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Goal

Autonomously navigate to charging dock using ArUco marker visual guidance when battery low.

Requirements

  • ArUco marker on dock (configurable ID, default 42)
  • RealSense D435i detects at up to 3m
  • Approach: detect → align → slow approach → contact → verify charging
  • Battery threshold: begin dock search at 20% SoC
  • Search pattern: slow 360 rotation then expand radius
  • Publish /saltybot/dock_state
  • Face display: charging animation when docked
  • Safety: abort if obstacle between robot and dock
## Goal Autonomously navigate to charging dock using ArUco marker visual guidance when battery low. ## Requirements - ArUco marker on dock (configurable ID, default 42) - RealSense D435i detects at up to 3m - Approach: detect → align → slow approach → contact → verify charging - Battery threshold: begin dock search at 20% SoC - Search pattern: slow 360 rotation then expand radius - Publish /saltybot/dock_state - Face display: charging animation when docked - Safety: abort if obstacle between robot and dock
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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#410
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