GoPi5Go-Dave has been managing his docking and undocking autonomously with ROS 2 Humble for 17 days now and has suffered a few docking failures. (I attributed most of them to my wife bumping Dave when she looks out the window for squirrels). I increased his docking success rate by increasing the speed he backs onto the dock, but today another failure occurred with similar presentation.
If Dave does not back from exactly centered to the dock, the angle keeps one contact just a little short of mating.
I was able to add a /fixdock service to the docking_node, which will back another centimeter, and added a “docking_failure” state to the dave_node to call the /fixdock service when needed.
Quick testing results were good, we’ll see if the “Fix is in” for real.
