rehab_docking

This is responsible for the auto docking of the robot.
It follows four steps strategy:

• Navigate to a point in front of docking station using navigation stack
• Move towards Artag using the camera and stop at certain distance
• Rotate 180 degree
• Move backward untill the robot is docked (backwards motion is based upon the lidar's backward distance)

Installation

ar_track_alvar

This package detects the Artag. To install this, you need to go into your workspace using
cd catkin_ws/src/
clone the repo
git clone https://github.com/ros-perception/ar_track_alvar.git

realsense_ros

git clone https://github.com/IntelRealSense/realsense-ros.git -b ros1-legacy

rehab_docking

git clone https://github.com/UsamaArshad16/rehab_docking.git

Build these packages
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash

Run the demo

1. rehab_bringup

roslaunch rehab_bringup rehab_bringup.launch

2. rehab_navigation

open another terminal
roslaunch rehab_navigation rehab_navigation.launch
localize properly

3. realsense_ros

open another terminal
roslaunch realsense2_camera rs_camera.launch

4. ar_track_alvar

open another terminal
roslaunch ar_track_alvar pr2_indiv_no_kinect.launch
You also need to specify your tag/marker size and topics in the pr2_indiv_no_kinect.launch file.
so you can set the args like this in launch file
<arg name="marker_size" default="15" />
<arg name="cam_image_topic" default="/camera/color/image_raw" />
<arg name="cam_info_topic" default="/camera/color/camera_info" />
<arg name="output_frame" default="/camera_link" />

5. rehab_docking

open another terminal
rosrun rehab_docking ar_auto_docking.py

Watch the Smoooth docking and enjoy...