Auto-Docking-ROS

Mobile Robot Docking System package using ArUco Marker.

🛠️Introduction

• Package for Autonomous Mobile Robot Docking System using RGB-D camera and ArUco Marker. (Test : https://www.youtube.com/watch?v=wxZ-b0o1vn4)
• PD Position Control
• It is used in the robot's automatic charging system.
• Detail in this Repository

🛠️Prerequisites

OpenCV

I use OpenCV to manipulate images and ArUco Marker. Download and Install : OpenCV, OpenCV_Contrib (at least 4)

Boost

ROS message filter needs Boost

RealSense SDK

I use Realsense SDK to use Realsense D435. Download and Install : librealsense

ROS

Install ROS (I installed ros noetic)

Additional

• realsense ros
• ros : std_msgs, sensor_msgs, geometry_msgs, cv_bridge ...

🛠️Setting

• Development environment

Settings	Version
OS	Ubuntu 20.04
Language	C++
ROS	Noetic
IDE	VS code
OpenCV	4.4.0
Camera	Intel Realsense D435
Realsense SDK	2.51.1

• Test environment

Settings	Version
OS	Ubuntu 20.04
JetPack	5.0.2
Language	C++
ROS	Noetic
OpenCV	4.4.0
Camera	Two Camera : Intel Realsense D435
Realsense SDK	2.51.1

🛠️Parameter Tuning

Control Gain

Top of src/ControlSystem.cpp, you can change Reference and Gain.(#define ~)

Limit Velocity

Top of src/mode.cpp, you can change Limit Angular and Linear Velocity.(#define~)

Allowable Error

Top of src/controller.cpp, you can change Allowable Error.(#define~)

🛠️Branch

• main : main branch is main source code.
• robot_test : robot_test branch is source code that I use my Robot.

🛠️Build

Clone the repository:

cd (your_workspace)/src

Build:

git clone https://github.com/SanghyunPark01/Auto-Docking-ROS.git
cd ~/(your_workspace)
catkin_make

🛠️Run

• STEP 1 :
  In docking_main_node.cpp, you have to publish /check_DockingSystem_Flag. If you want this, you have to erase `//` in docking_main_node.cpp - line 64
• STEP 2 :

  roslaunch realsense2_camera rs_camera.launch
  rosrun Auto-Docking-ROS docking_full
  

🛠️Test

Click Image!!

🛠️Error Reporting

• Using github issues
• Or Sending me an E-mail : pash0302@naver.com