Docking sometimes takes a very long time in Simulation (only)

[Jailander]

Hi, Docking sometimes takes a very long time or doesn't work at all in simulation the robot keeps trying to reach a position right in front of the label but it cant reach it.

This happens only in simulation I have never seen this behaviour on Linda.

[kunzel]

Is it because of the camera not being able to detect the imge? Or the accuracy the robot tries to reach the position? Or is it because the robot never gets the charging signal? Can you pin down the likely reason of the failure? Maybe visualize both camera images, the normal and the filtered one and see whether this works fine for you?

[gestom]

IMHO the problem is that the simulated camera has different parameters (namely the focal length) than a real one.
The result is that the tag size (in pixels) at the same distance from the camera is different for simulated and real camera. Therefore, the relative robot-tag position cannot be established properly in simulation.

[kunzel]

Have you tried with different parametrizations of the simulated camera? I guess, curretly, it is the default config. See the following link for other options: http://www.openrobots.org/morse/doc/latest/user/sensors/video_camera.html