This repository provides the algorithm which is needed to do the docking with
the Apriltags as landmark. All required system variables like the HOME_POSE etc. need to be in
the file: /etc/environment on the turtlebots file system. This file should contain the following Variables.
E.g.:
export TURTLEBOT_HOME_POSE_X="2.97"
export TURTLEBOT_HOME_POSE_Y="-0.46"
export TURTLEBOT_HOME_POSE_A="-1.56"
export DOCK_ID="99"
Usage bringup
To bring up the turtlebot including the mobile base, the kobuki auto docking and the sensors you can use:
roslaunch turtlebot_visual_docking justbringup.launch
Usage ActionServer
To start the ActionServer you can use:
roslaunch turtlebot_visual_docking docking_server.launch
To start docking without driving to the HOME_POSE use:
rostopic pub /DockingActionServer/goal ...
To start docking with driving to the HOME_POSE use:
rostopic pub /GoHomeActionServer/goal ...
Usage docking
To start the docking algorithm you can use:
roslaunch turtlebot_visual_docking start_docking.launch