This ROS2 package provides an automated docking solution using Aruco markers for precise positioning and orientation of robotic platforms. It employs a camera-based system to detect Aruco markers and aligns the robot for docking, considering the rotational alignment along the Z-axis.
- Aruco Marker Detection: Uses a camera to detect Aruco markers and obtains the pose for alignment.
- Z-Axis Rotation Alignment: Accounts for the rotational component around the Z-axis for accurate docking.
- Marker Loss Prediction: Predicts the marker's location during occlusions or loss of sight, based on the robot's current velocity and angular velocity.
- Kalman Filter: Implements a Kalman filter to improve marker detection reliability and prediction accuracy.