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[P1] Docking station behavior — auto-charge when low battery #489

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opened 2026-03-05 17:03:03 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 17:03:03 -05:00
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Navigation behavior to find and dock at charging station. Detect dock via ArUco marker or IR beacon. Approach sequence: Nav2 to pre-dock pose → visual servoing to align → slow forward dock. Integrate with power management (#467) — auto-trigger at 20% battery. Publish /saltybot/docking_state. Undock on full charge or command.

Navigation behavior to find and dock at charging station. Detect dock via ArUco marker or IR beacon. Approach sequence: Nav2 to pre-dock pose → visual servoing to align → slow forward dock. Integrate with power management (#467) — auto-trigger at 20% battery. Publish /saltybot/docking_state. Undock on full charge or command.
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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#489
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