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>
25 lines
822 B
XML
25 lines
822 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_docking</name>
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<version>0.1.0</version>
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<description>Docking station auto-return with ArUco/IR detection and visual servo (Issue #158)</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>std_msgs</depend>
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<depend>nav2_msgs</depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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