- 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>
sl-controls
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