husarion_ugv_autonomy_ros/husarion_ugv_docking/config/docking_server.yaml at ros2 · husarion/husarion_ugv_autonomy_ros · GitHub

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/**:
  ros__parameters:
    use_sim_time: false
    enable_stamped_cmd_vel: true

    controller_frequency: 50.0
    initial_perception_timeout: 5.0
    wait_charge_timeout: 10.0
    dock_approach_timeout: 20.0
    undock_linear_tolerance: 0.19
    undock_angular_tolerance: 0.08
    max_retries: 3
    base_frame: <robot_namespace>wibotic_receiver_coil_link # Distance to the dock is calculated from this frame
    fixed_frame: <robot_namespace>odom
    dock_backwards: false
    dock_prestaging_tolerance: 0.15

    dock_plugins: ["charging_dock"]
    charging_dock:
      plugin: husarion_ugv_docking::ChargingDock
      external_detection_timeout: 0.2
      docking_distance_threshold: 0.04
      docking_yaw_threshold: 0.2
      staging_x_offset: -0.8
      filter_coef: 0.1
      use_wibotic_info: <use_wibotic_info_param>
      wibotic_info_timeout: 1.0

    dock_database_filepath: dock_database.yaml
    docks: ["main", "backup"]
    main:
      type: charging_dock
      frame: <robot_namespace>map
      dock_frame: main_wibotic_dock_frame
      pose: [2.0, 1.3, 1.57] # [x, y, yaw] docking pose; station spawns facing opposite
      apriltag_id: 0

    backup:
      type: charging_dock
      frame: <robot_namespace>map
      dock_frame: backup_wibotic_dock_frame
      pose: [-1.0, 1.3, 1.57] # [x, y, yaw] docking pose; station spawns facing opposite
      apriltag_id: 1

    controller:
      k_phi: 1.0
      k_delta: 2.0
      v_linear_min: 0.0
      v_linear_max: 0.2
      v_angular_max: 0.15
      use_collision_detection: false