neo_docking
===========

`neo_docking` is an exclusive package for docking of all the Neobotix robots with visual feedback to a charging station.

This package is modular and can be extended for other docking applications as well. Example: Docking with a supply cart for industrial purpose.

User will demand the robot to dock to a desired station.

.. attention:: Currently neo_docking only supports ROS-1

Installation
------------

For the purpose of docking, we use the Ar tags provided by the `ar_track_alvar <http://wiki.ros.org/ar_track_alvar>`_ ROS package.

#. For the vision data, we need a depth camera. For this particular application, we developed the entire package using the Realsense D435i. Please follow the `installation <https://github.com/IntelRealSense/realsense-ros>`_ steps for the Realsense camera, or the camera which you have decided to use.
#. Supported ROS-DISTROS: melodic and noetic.
#. Install the rgbd-launch

	::

		sudo apt install ros-$ROS_DISTRO-rgbd-launch

#. Clone the ar_track_alvar ROS package

	.. note:: Please change the branch according to your pre-existing ROS-Distro

	::

		cd to_your_workspace/src/
		git clone https://github.com/neobotix/ar_track_alvar

#. In your workspace, clone the neo_docking package

	::

		cd to_your_workspace/src/
		git clone https://github.com/neobotix/neo_docking
		cd ..
		catkin_make

Parameters
----------
There are a set of parameters that could be configured for the docking service in folder configs:

#. ar_track_alvar_single.yaml

	+-----------+---------------+---------------------------------------------------+-----------------------------------------------------------------------+
	| Parmeters | Default Value | Description                                       | Options                                                               |
	+===========+===============+===================================================+=======================================================================+
	| markers   | 2, 8, 10      | A vector that defines which markers are included. | Anything coded in a marker(see http://wiki.ros.org/ar_track_alvar).   |
	+-----------+---------------+---------------------------------------------------+-----------------------------------------------------------------------+

Setup server
------------

#. Start up the robot(or simulator) and launch navigation_basic_neo from package neo_mpo_700:

	::

		roslaunch neo_mpo_700 navigation_basic_neo.launch

#. Run neo_docking with launch file:

	::

		roslaunch neo_docking dock_with_individual_marker_mb.launch


Docking Process
---------------

#. Bring robot to a position and orientation where it can detect the marker with its camera via remote controller.
#. Call neo_docking service by running the following command, and its argument is the station number:

	::

		rosservice call /auto_docking 10

#. After it docked to the station, the terminal would print the accuracy of docking process.
#. Now in order for the robot to start the process of charging, (for the simulation you can skip this step)

	::

		rosservice call /relayboard_v2/start_charging

#. In order to stop the charging

	::

		rosservice call /relayboard_v2/stop_charging

#. Now in order for the robot to start the process of charging, (for the simulation you can skip this step)

	::

		rosservice call /auto_undocking 10

Video demo
----------

.. raw:: html

    <iframe width="400" height="300" src="https://www.youtube.com/embed/oXxkGD2NEC0" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>