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communicating with /move_base for kobuki to reverse a bit when /mobile_base/sensors/core/charger is greater than zero [closed]

asked 2017-03-22 17:12:03 -0600

j_salfity gravatar image

Hi All ...Some prelims: Turtlebot 2, Nvidia TK1, Xbox Kinect, Kobuki Base, ROS Indigo with turtlebot_navigation

Suppose the Turtlebot is at the Kobuki Docking station, when the Turtlebo receives a move_base goal the Turtlebot pivots in place and grinds against the docking station. Basically, the Turtlebot and turtlebot_navigation do not know when at the docking station.

Has anyone figured out a simple way to prevent this? I've tried all sorts of round-about methods, but I believe it comes down to /move_base listening to /mobile_base/sensors/core/charging and reversing a bit (0.1 [m]) when charging. I think I could add something into the /move_base library, but I prefer not to recompile an entire library.

Thoughts, suggestions?? Thanks!

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Closed for the following reason the question is answered, right answer was accepted by j_salfity
close date 2017-04-04 12:56:13.718609

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answered 2017-03-22 18:03:35 -0600

ahendrix gravatar image

A few years back I wrote a simple state machine that ran on a turtlebot 2 in much the same way: https://github.com/trainman419/nav_de...

Instead of trying to get move_base to perform the docking and undocking, I used the actionlib client for docking, and did the undocking by publishing a backup command manually for about 0.5 meters: https://github.com/trainman419/nav_de...

My state machine was also subscribed to the power system state and events, so it could trigger a undock when the battery was fully charged, and trigger a return to dock behavior when the battery was low.

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Awesome, thanks for the response. Ended up doing something just like that.

j_salfity gravatar imagej_salfity ( 2017-04-04 12:55:45 -0600 )edit

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Asked: 2017-03-22 17:12:03 -0600

Seen: 145 times

Last updated: Mar 22 '17