321thijs123 / dingo_dock_robot Goto Github PK

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:

• User drives to position where the robot can see the platform
• User presses X to start docking
• nav_goal_sender sends navgoal
• drivetest takes over when nav_goal_sender is done
• User should be able to press O to abort.

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.