sl-controls
783dedf4d4
Two new ROS2 packages implementing Issue #158: saltybot_docking_msgs (ament_cmake) - DockingStatus.msg: stamp, state, dock_detected, distance_m, lateral_error_m, battery_pct, charging, aligned - Dock.srv / Undock.srv: force + resume_mission flags saltybot_docking (ament_python, 20 Hz) - dock_detector.py: ArucoDetector (cv2.aruco PnP → DockPose) + IRBeaconDetector (EMA envelope with amplitude threshold); both gracefully degrade if unavailable - visual_servo.py: IBVS proportional controller — v = k_lin×(d−target), ω = −k_ang×yaw; aligned when |lateral| < 5mm AND d < contact_distance - charge_monitor.py: edge-triggered events (CHARGING_STARTED/STOPPED, THRESHOLD_LOW at 15%, THRESHOLD_HIGH at 80%) - docking_state_machine.py: 7-state FSM (IDLE→DETECTING→NAV2_APPROACH→ VISUAL_SERVO→CONTACT→CHARGING→UNDOCKING); mission_resume signal on auto-dock cycle; contact retry on timeout; lost-detection timeout - docking_node.py: 20Hz ROS2 node; Nav2 NavigateToPose action client (optional); /saltybot/dock + /saltybot/undock services; /saltybot/docking_cmd_vel; /saltybot/resume_mission; /saltybot/docking_status - config/docking_params.yaml, launch/docking.launch.py Tests: 64/64 passing (IRBeaconDetector, VisualServo, ChargeMonitor, DockingStateMachine — all state transitions and guard conditions covered) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
33 lines
961 B
Python
33 lines
961 B
Python
from setuptools import setup, find_packages
|
|
import os
|
|
from glob import glob
|
|
|
|
package_name = "saltybot_docking"
|
|
|
|
setup(
|
|
name=package_name,
|
|
version="0.1.0",
|
|
packages=find_packages(exclude=["test"]),
|
|
data_files=[
|
|
("share/ament_index/resource_index/packages",
|
|
[f"resource/{package_name}"]),
|
|
(f"share/{package_name}", ["package.xml"]),
|
|
(os.path.join("share", package_name, "config"),
|
|
glob("config/*.yaml")),
|
|
(os.path.join("share", package_name, "launch"),
|
|
glob("launch/*.py")),
|
|
],
|
|
install_requires=["setuptools"],
|
|
zip_safe=True,
|
|
maintainer="sl-controls",
|
|
maintainer_email="sl-controls@saltylab.local",
|
|
description="Docking station auto-return with ArUco/IR detection and visual servo",
|
|
license="MIT",
|
|
tests_require=["pytest"],
|
|
entry_points={
|
|
"console_scripts": [
|
|
f"docking_node = {package_name}.docking_node:main",
|
|
],
|
|
},
|
|
)
|