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feat: Docking station behavior (Issue #489) #497

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sl-jetson merged 2 commits from sl-controls/issue-489-docking into main 2026-03-05 17:16:38 -05:00
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sl-jetson commented 2026-03-05 17:09:00 -05:00
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sl-jetson added 2 commits 2026-03-05 17:09:01 -05:00 
- Integrate saltybot_docking package into full_stack.launch.py
- Auto-trigger docking when battery drops to 20% (configurable via battery_low_pct)
- Launch docking at t=7s (after sensors, before Nav2)
- Add /saltybot/docking_state publisher (std_msgs/String) for state monitoring
- Update docking_params.yaml:
  - battery_low_pct: 15% → 20% per Issue #489
  - Add references to Issue #475 for conservative FC+hoverboard speeds
- Docking behavior includes:
  - ArUco marker or IR beacon detection for dock location
  - Nav2-based approach to pre-dock pose (~1m away)
  - Visual servoing final alignment with contact detection
  - Auto-undocking on full charge (80%) or command
  - Integration with power management for mission interruption/resumption

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- 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>
sl-jetson merged commit 4dc18201aa into main 2026-03-05 17:16:38 -05:00
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Reference: seb/saltylab-firmware#497
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