Autodocking package discussion #13
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🚀 Autodocking Architecture Discussion (Linorobot2 / OpenAMR)
We are opening this thread to discuss the new autodocking plan for the OpenAMR / Linorobot2 platform running ROS 2 on Raspberry Pi 5. The objective is to finalize a reliable docking workflow integrating Nav2, AprilTag-based detection, and automated charging logic.
📌 Summary of the Proposed System
🧩 Core Components
opennav_docking).apriltag_ros).detected_dock_pose.camera_link→camera_optical_frame.🔌📥 Docking sequence
🛠 Workflow Overview
🔧 Implementation Tasks
dock_pose_bridge(filter tag by ID, compute pose, publish).charge_monitor(battery full detection, optional GPIO sensing).twist_muxwith priority switching.✔ Topics for Discussion
Please share comments and improvements so we can finalize the autodocking implementation.
🔍📝 More detailed description:
Autodocking_Linorobot2_ROS2_RPi.pdf
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