Review

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

panther_docking/README.md

@@ -9,7 +9,8 @@ The package contains a `PantherChargingDock` plugin for the [opennav_docking](ht
 
 ## Configuration Files
 
-- [`panther_docking_server.yaml`](./config/panther_docking_server.yaml): Defines parameters for a `docking_server` and a `PantherChargingDock` plugin.
+- [`panther_docking_server.yaml`](./config/panther_docking_server.yaml): Defines parameters for a `docking_server` and a `PantherChargingDock` plugin. Defines poses where charging docks are spawned in the Gazebo.
+
 
 ## ROS Nodes
 

panther_docking/config/apriltag.yaml

@@ -6,7 +6,6 @@
     size: 0.06
     profile: false
 
-
     max_hamming: 0
     detector:
       threads: 1
@@ -16,7 +15,6 @@
       sharpening: 0.25
       debug: false
 
-
     tag:
       ids: [0, 1]
       frames: [main_apriltag_link, backup_apriltag_link]

panther_docking/config/panther_docking_server.yaml

@@ -36,7 +36,7 @@
       type: panther_charging_dock
       frame: <robot_namespace>/map
       dock_frame: backup_wibotic_receiver_requested_pose_link
-      pose: [-1.0, 1.5, 1.57]  # position of the dock on the map. Used also for spawning dock in the simulation.
+      pose: [-1.0, 1.5, 1.57]  # [x, y, yaw] pose of the dock on the map. Used also for spawning dock in the simulation.
       apriltag_id: 1
 
     controller:

panther_docking/launch/docking.launch.py

@@ -36,13 +36,6 @@ def generate_launch_description():
         description=("Path to docking server configuration file."),
     )
 
-    declare_use_docking_arg = DeclareLaunchArgument(
-        "use_docking",
-        default_value="True",
-        description="Enable docking server.",
-        choices=["True", "False", "true", "false"],
-    )
-
     apriltag_config_path = LaunchConfiguration("apriltag_config_path")
     declare_apriltag_config_path_arg = DeclareLaunchArgument(
         "apriltag_config_path",
@@ -170,9 +163,8 @@ def generate_launch_description():
         [
             declare_apriltag_config_path_arg,
             declare_docking_server_config_path_arg,
-            declare_use_docking_arg,
-            declare_use_wibotic_info_arg,
             declare_log_level,
+            declare_use_wibotic_info_arg,
             station_launch,
             docking_server_node,
             docking_server_activate_node,

panther_docking/launch/station.launch.py

@@ -128,10 +128,18 @@ def generate_launch_description():
         description="Size in meters of a generated apriltag on the station",
     )
 
+    declare_use_docking_arg = DeclareLaunchArgument(
+        "use_docking",
+        default_value="True",
+        description="Enable docking server.",
+        choices=["True", "False", "true", "false"],
+    )
+
     return LaunchDescription(
         [
             declare_apriltag_id,
             declare_apriltag_size,
+            declare_use_docking_arg,
             OpaqueFunction(function=launch_stations_descriptions),
         ]
     )

panther_docking/src/panther_charging_dock.cpp

@@ -159,8 +159,10 @@ bool PantherChargingDock::getRefinedPose(PoseStampedMsg & pose)
   auto duration = rclcpp::Time(request_detection_time) - rclcpp::Time(dock_pose_.header.stamp);
   if (duration > timeout) {
     RCLCPP_WARN_STREAM(
-      logger_, "Lost detection or did not detect: timeout exceeded: "
-                 << duration.seconds() << "s timeout: " << timeout.seconds() << "s");
+      logger_, "Detection timeout exceeded. Duration since last detection: "
+                 << duration.seconds() << " seconds (timeout threshold: " << timeout.seconds()
+                 << " seconds). "
+                 << "No detection received or lost detection for external detection.");
     return false;
   }
 

panther_gazebo/README.md

@@ -14,7 +14,6 @@ The package contains a launch file and source files used to run the robot simula
 - [`battery_plugin_config.yaml`](./config/battery_plugin_config.yaml): Simulated LinearBatteryPlugin configuration.
 - [`gz_bridge.yaml`](./config/gz_bridge.yaml): Specify data to exchange between ROS and Gazebo simulation.
 - [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets.
-- [`panther_docking_server.yaml`](../panther_docking/config/panther_docking_server.yaml): Defines poses for charging docks.
 
 ## ROS Nodes
 

panther_gazebo/launch/simulate_robot.launch.py

@@ -198,19 +198,6 @@ def generate_launch_description():
         launch_arguments={"namespace": namespace, "use_sim": "True"}.items(),
     )
 
-    apriltag_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("panther_gazebo"),
-                    "launch",
-                    "apriltag.launch.py",
-                ]
-            ),
-        ),
-        launch_arguments={"namespace": namespace, "use_sim": "True"}.items(),
-    )
-
     return LaunchDescription(
         [
             declare_battery_config_path_arg,
@@ -227,6 +214,5 @@ def generate_launch_description():
             simulate_components,
             gz_bridge,
             docking_launch,
-            apriltag_launch,
         ]
     )

panther_gazebo/package.xml

@@ -27,7 +27,6 @@
   <depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">std_msgs</depend>
   <depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">std_srvs</depend>
 
-  <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">apriltag_ros</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">controller_manager</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_gz_worlds</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">launch</exec_depend>