Ros2 docking charging dock wibotic msgs

README.md

@@ -109,6 +109,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | 🤖🖥️  | `use_ekf`                    | Enable or disable EKF. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                                   |
 | 🤖🖥️  | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                                             |
 | 🤖🖥️  | `user_led_animations_file`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                                                             |
+| 🤖🖥️  | `panther_charging_dock.use_wibotic_info` | Use readings from `wibotic_info` topics to ensure that a robot is charging. <br/>  **bool**: `True` |
 | 🤖🖥️  | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config)                                                                                                                                                                                                                                                   |
 | 🤖🖥️  | `wheel_type`                 | Type of wheel. If you choose a value from the preset options ('WH01', 'WH02', 'WH04'), you can ignore the 'wheel_config_path' and 'controller_config_path' parameters. For custom wheels, please define these parameters to point to files that accurately describe the custom wheels. <br/> ***string:*** `WH01` (choices: `WH01`, `WH02`, `WH04`, `custom`) |
 | 🖥️   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                          |

panther_docking/README.md

@@ -46,10 +46,10 @@ The package contains a `PantherChargingDock` plugin for the [opennav_docking](ht
 
 - `base_frame` [*string*, default: **base_link**]: A base frame id of a robot.
 - `fixed_frame` [*string*, default: **odom**]: A fixed frame id of a robot.
-- `<dock_type>.external_detection_timeout` [*double*, default: **0.2**]: A timeout in seconds for looking up a transformation from an april tag of a dock to a base frame id.
-- `<dock_type>.docking_distance_threshold` [*double*, default: **0.05**]: A threshold of a distance between a robot pose and a dock pose to declare if docking succeed.
-- `<dock_type>.docking_yaw_threshold` [*double*, default: **0.3**]: A threshold of a difference of yaw angles between a robot pose and a dock pose to declare if docking succeed.
-- `<dock_type>.staging_x_offset` [*double*, default: **-0.7**]: A staging pose is defined by offsetting a dock pose in axis X.
-- `<dock_type>.filter_coef` [*double*, default: **0.1**]: A key parameter that influences the trade-off between the filter's responsiveness and its smoothness, balancing how quickly it reacts to new pose data pose how much it smooths out fluctuations.
-- `<dock_type>.use_wibotic_info` [*bool*, default: **True**]: Use readings from `wibotic_info` topics to ensure that a robot is charging.
-- `<dock_type>.wibotic_info_timeout` [*double*, default: **0.2**]: A timeout in seconds for wibotic_info.
+- `panther_charging_dock.external_detection_timeout` [*double*, default: **0.2**]: A timeout in seconds for looking up a transformation from an april tag of a dock to a base frame id.
+- `panther_charging_dock.docking_distance_threshold` [*double*, default: **0.05**]: A threshold of a distance between a robot pose and a dock pose to declare if docking succeed.
+- `panther_charging_dock.docking_yaw_threshold` [*double*, default: **0.3**]: A threshold of a difference of yaw angles between a robot pose and a dock pose to declare if docking succeed.
+- `panther_charging_dock.staging_x_offset` [*double*, default: **-0.7**]: A staging pose is defined by offsetting a dock pose in axis X.
+- `panther_charging_dock.filter_coef` [*double*, default: **0.1**]: A key parameter that influences the trade-off between the filter's responsiveness and its smoothness, balancing how quickly it reacts to new pose data pose how much it smooths out fluctuations.
+- `panther_charging_dock.use_wibotic_info` [*bool*, default: **True**]: Use readings from `wibotic_info` topics to ensure that a robot is charging.
+- `panther_charging_dock.wibotic_info_timeout` [*double*, default: **1.5**]: A timeout in seconds to receive wibotic_info.

panther_docking/include/panther_docking/panther_charging_dock.hpp

@@ -155,16 +155,14 @@ class PantherChargingDock : public opennav_docking_core::ChargingDock
   /**
    * @brief Set the dock pose.
    *
-   * This method sets the dock pose.  It can be used as a callback for a subscription.
+   * This method sets the dock pose. It can be used as a callback for a subscription.
    *
    * @param pose The dock pose.
    */
   void setDockPose(const PoseStampedMsg::SharedPtr pose);
 
   /**
-   * @brief Set the Wibotic info.
-   *
-   * This method sets the Wibotic info. It can be used as a callback for a subscription.
+   * @brief Wibotic info callback, used when `use_wibotic_info` is enabled.
    *
    * @param msg The Wibotic info message.
    */

panther_docking/launch/docking.launch.py

@@ -151,14 +151,16 @@ def generate_launch_description():
         name="docking_manager",
         parameters=[
             PathJoinSubstitution([panther_manager_dir, "config", "docking_manager.yaml"]),
-            {"bt_project_path": PathJoinSubstitution(
-            [panther_manager_dir, "behavior_trees", "DockingBT.btproj"])},
+            {
+                "bt_project_path": PathJoinSubstitution(
+                    [panther_manager_dir, "behavior_trees", "DockingBT.btproj"]
+                )
+            },
         ],
         namespace=namespace,
         emulate_tty=True,
     )
 
-
     return LaunchDescription(
         [
             declare_use_docking_arg,
@@ -170,6 +172,6 @@ def generate_launch_description():
             docking_server_activate_node,
             dock_pose_publisher,
             wibotic_connector_can,
-            docking_manager_node
+            docking_manager_node,
         ]
     )

panther_docking/package.xml

@@ -17,6 +17,7 @@
   <depend>geometry_msgs</depend>
   <depend>nav2_util</depend>
   <depend>opennav_docking</depend>
+  <depend>panther_manager</depend>
   <depend>panther_utils</depend>
   <depend>pluginlib</depend>
   <depend>python3-pip</depend>
@@ -28,7 +29,6 @@
   <depend>wibotic_msgs</depend>
 
   <!-- FIXME: Remove before release -->
-  <depend >panther_manager</depend>
 
   <exec_depend>nav2_lifecycle_manager</exec_depend>
   <exec_depend>python3-imageio</exec_depend>

panther_docking/src/panther_charging_dock.cpp

@@ -45,11 +45,10 @@ void PantherChargingDock::configure(
   declareParameters(node);
   getParameters(node);
 
-  if(!use_wibotic_info_){
+  if (!use_wibotic_info_) {
     RCLCPP_INFO(logger_, "Wibotic info is disabled.");
   }
 
-
   pose_filter_ = std::make_unique<opennav_docking::PoseFilter>(
     pose_filter_coef_, external_detection_timeout_);
 }