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Hi!

Thanks for this project! We have successfully deployed this algorithm long term and it has been working well :). Over time, we have observed that the simple_autodock node seems to be taking a lot of CPU resources even when IDLE. Sample htop screenshot shown below when TB3 sim is at the dock.

Since this is just a state machine, could we figure out if there is something in the implementation that is causing it to have high CPU usage? I have done some preliminary investigation to look at if there are unrated loops or high frequency timer callbacks but could not find any egregious issues. We are running this in a moderately resource limited computer (4 core/8GB RAM) and sometimes, we see other issues because of the dock node overloading the system. If you have ideas on how to debug, I will be more than happy to try them out and report back/make a PR for review. FWIW this issue has been observed on both 18.04/Melodic and 20.04/Noetic.

Best,
Swarooph

when launching autodock_sim i have an error:

[simple_autodock-2] process has died [pid 3189120, exit code 1, cmd /home/user/catkin_ws/src/autodock/autodock_core/scripts/simple_autodock.py --server --rosparam __name:=simple_autodock __log:=/home/user/.ros/log/f978cfa0-e22e-11ec-ac9d-75877b4c1b58/simple_autodock-2.log].
log file: /home/user/.ros/log/f978cfa0-e22e-11ec-ac9d-75877b4c1b58/simple_autodock-2*.log

Hi I am trying to use autodock package however, I don't see information about marker
Could you tell me exact size of the marker? and any other information would be apprecieated.
Thank you!

My robot could not dock successfully.
The robot oscillates and then stops
Error image and my launch file: https://drive.google.com/drive/folders/17mxb9oIhngnC1gab4QLsPD7fjn2v7lWh?usp=sharing
Can someone help me with it?

Can i use 1 Tag instead of 3?

I was trying to use follow the instructions for the Mock Robot, when I encountered the following error as I was using the command line "rostopic pub /autodock_action/goal autodock_core/AutoDockingActionGoal {} --once" The error messages are as follows:

Any tips on this scenario?

../src/autodock/autodock_sim/src/ChargingStationPlugin.cpp:28:10: fatal error: gazebo/plugins/FlashLightPlugin.hh: No such file or directory
#include <gazebo/plugins/FlashLightPlugin.hh>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

I think when the robot gets closer and closer to the marker, aruco vision gets unvisible that's why in code there are 2 plus little one, but I am wondering is there any other reason ? Because almost all other packages are using only one aruco marker.

when the robot is in front of the charging station it can detect the 3 fiducials markers and its position is parallel to the station. it starts to rotate to the left then it displays this message:
[INFO] [1653488377.911862, 903.320000] : Attempt with 1 try
[WARN] [1653488377.914467, 903.322000]: Status: [PREDOCK] | start docking
[INFO] [1653488377.919384483, 903.327000000]: ObstacleObserver received autodock status: 2
[WARN] [1653488378.454973, 903.827000]: Search failure: fiducial_10, from base_footprint
[WARN] [1653488378.458897, 903.831000]: Status: [PREDOCK] | Try to set yaw of one marker
[INFO] [1653488378.463162517, 903.836000000]: ObstacleObserver received autodock status: 2
[WARN] [1653488379.074444, 904.336000]: Search failure: fiducial_10, from base_footprint
[WARN] [1653488379.129678, 904.388000]: Rotate with right marker: fiducial_11
[WARN] [1653488379.132816, 904.391000]: Status: [PREDOCK] | Rotate robot: -0.02 rad
[INFO] [1653488379.137920379, 904.395000000] : ObstacleObserver received autodock status : 2
Current difference of x, y, yaw: -0.00 | -0.00 | -0.02
[WARN] [1653488379.217710, 904.471000] : Finished running the robot
[INFO] [1653488379.218855, 904.472000]: Both markers are detected, execute pre-storage loop.
[WARN] [1653488379.758596, 904.973000]: Search failure: fiducial_10, from base_footprint
[ERROR] [1653488379.761544, 904.975000]: No detection of marker on two sides, exit status
[WARN] [1653488379.766281, 904.979000]: Docking attempt failed
[WARN] [1653488379.772542, 904.985000]: Retry attempt: 1/1
[INFO] [1653488379.777406, 904.989000]: Status is not retryable
[WARN] [1653488379.779995, 904.992000]: Unable to retry
[WARN] [1653488379.785579, 904.996000]: Status: [IDLE] | Dock Action failed to run

When can we aspect the ROS2 version for this since it will be much more helpful?

Hi,

I am testng the autodock on linorobot with usbcam . Markers are getting detected and it is identifying the current yaw diff and sending the cmd_vel for the first time. post which nothing is happening. Attaching the output for your reference. Please suggest if i am missing any steps here.

Autodocking.txt

Thank you
Sasi

We are using this camera driver for publishing the video as rostopics.

However, it was noticed that it takes about 1s for the video to appear when viewing the compressed rqt_image_view. Latency between the fiducial_images output from aruco_detect and the raw compressed image was not noticeable by human eye. Understandably, the robot steers out of control as the error compounds as it tries to steer dock with a mix of current and outdated tf (but as far as ROS is aware, they are current).

Are there sample configs for when the camera image latency is high?

There was also problems exiting the parallel correction loop, but I think that can be solved by setting a longer tf expiry time, and setting averaging sample(s) to 1.

Unable to open and run Autodock from last 4-5 months.
Sometimes it works well but after 1or 2 dock process it suddenly stops working.
Now I am getting this problem to much..... Showing

1. Contact to application support team.
2. Attribute error: set user preference instance has no attribute 'form'.
3. Hit enter to continue.....after this all windows suddenly closes and not allow autodock GUI to open.

Autodock is a majorly used tool for my work and due to this problem my work is so much affected. Require solution urgently.

Hi,

i am able to run the turtelbot and getting docked without any error. but when i run the mockbot i am getting the below mentioned error eventhough the Markers are detected. Am i missing anything here?

INFO] [1680685721.064356, 44.498000]: Will attempt with 2 retry
[WARN] [1680685721.065865, 44.500000]: State: [PREDOCK] | start docking
[WARN] [1680685721.451993, 45.000000]: Failed lookup: fiducial_10, from base_footprint
[WARN] [1680685721.842108, 45.450000]: State: [PREDOCK] | Try single marker yaw adjustment
[WARN] [1680685722.068391, 45.952000]: Failed lookup: fiducial_10, from base_footprint
[WARN] [1680685722.470830, 46.452000]: Failed lookup: fiducial_11, from base_footprint
[ERROR] [1680685722.472098, 46.452000]: Not detecting two side markers, exit state
[WARN] [1680685722.472879, 46.452000]: Failed to Dock attempt
[WARN] [1680685722.473596, 46.452000]: Attemping retry: 1/2
[INFO] [1680685722.474667, 46.452000]: State is not retry-able
[WARN] [1680685722.475783, 46.452000]: Not able to retry
[WARN] [1680685722.477316, 46.452000]: State: [IDLE] | Failed execute Dock Action

when I run autodock , I have this problem like below picture.
I found that when the robot turned, the tf wouldn't be detected.
How could I fix this?

And the second problem is the robot have a large turn and result in aruco marker didn't appear in screen.
Which param could improve this situation?