sl-controls
b986702aed
- 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>