[Documentation] [TitleIndex] [WordIndex

Neobotix Stations:

Charging Station (V2):

http://www.neobotix-robots.com/options.html

Load Handle Docking Station:

Picture comming soon

Download

Download neo_locate_station

Requirements

Usage

C++ implementation

Create a service client and call the service.

   ros::NodeHandle n;
   ros::ServiceClient client = n.serviceClient<std_srvs::Empty>("locate_station");
   std_srvs::Empty empty;
   if(client.call(empty))
   {
        ROS_INFO("arraived at the station.");
   }
   else
   {
        ROS_ERROR("Failed to find the station!");
   }

Configuration

Parameter

Number:

Name

Description

Default

1:

version

Type of station to look for.

2

2:

x_threshold

max. distance between two points in x to be part of the same object

0.035 [m]

3:

y_threshold

max. distance between two points in y to be part of the same object

0.035 [m]

4:

nr_of_tries

max. number of tries to find the station

5

5:

min_points

min. number of points a object muss contain to be valid

5

6:

dist_pre_goal

distance from station to first goal

0.75 [m]

7:

dist_goal

distance from station to second goal

0.48 [m]

8:

approach_velocity

velocity to move from first goal to second goal

0.05 [m/s]

9:

dist_points_min

min. length of the station

0.38 [m]

10:

dist_points_max

max. length of the station

0.41 [m]

11:

average_calculation_number

number of laserscans to calculate coordinates as exactly as possible

40

12:

min_nr_found

min. number of successfully calculated coordinates

12

13:

visualize

True: Publish Points and Polygons. False: Do not publish any Points or Polygons.

false

14:

high_min

only necessary for charging station V2, should be left at default

0.06

15:

high_max

only necessary for charging station V2, should be left at default

0.09

Additional notes

Tolerances

This package uses Move_Base to move to the first goal. Make sure your navigation plugin tolerances are configured as low as possible! We recommend: xy_goal_tolerance < 6cm and yaw_goal_tolerance < 0.04 rad

Tested Plugin

For our tests we use the eband_local_planner which can be found here

Warnings

As mentioned above your xy_goal_tolerance and yaw_goal_tolerance are very important. The robot can crash into the station if it is not configured exactly!!!


2020-08-08 12:24