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These packages allow a Dingo robot equipped with a VLP-16 LIDAR and a custom lifting mechanism to detect, dock with, and lift a platform.
Make a launch file that can be used to launch the complete demo of our software.
Implement the same navigation using LIDAR as used in the simulation
Make it possible to use the dingo's PS4 controller to start docking:
The robot waits a long time after the target of nav_goal_sender has been reached, look into possibilities of decreasing time.
Make the nav_goal_sender abort the nav_goal/navigation when the docking topic goes to false.
The Velodyne will be positioned at a 45 degree angle on the robot, the software should account for this.
The navigation using ROS navigaiton seems quite hesitant about driving past objects and often says the target can't be reached while it should be doable. Try tweaking navigation parameters to fix this.
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