Revert "Fixed model"

This reverts commit 97d85c2.

panther_controller/launch/controller.launch.py

@@ -219,6 +219,8 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
+            "--namespace",
+            namespace,
         ],
         namespace=namespace,
         emulate_tty=True,
@@ -233,6 +235,8 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
+            "--namespace",
+            namespace,
         ],
         namespace=namespace,
         emulate_tty=True,
@@ -255,6 +259,8 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
+            "--namespace",
+            namespace,
         ],
         namespace=namespace,
         emulate_tty=True,

panther_docking/config/panther_docking_server.yaml

@@ -19,25 +19,26 @@
       base_frame: "<robot_namespace>/base_link"
       docking_distance_threshold: 0.15
       docking_yaw_threshold: 0.15
-      staging_x_offset: -0.8
+      staging_x_offset: -0.5
       staging_yaw_offset: 0.0
 
       # TODO: @delihus Try to remove this parameters by using docking station description in the ros_components_description
       # Transform between april tag frame and dock pose. An april tag Z+ faces always a camera
       external_detection_timeout: 0.3
-      external_detection_translation_x: 0.6
-      external_detection_translation_y: 0.0
-      external_detection_translation_z: 0.0
+      external_detection_translation_x: 0.0
+      external_detection_translation_y: -0.175 # Distance between the detection and ground
+      external_detection_translation_z: 0.8 # Distance between the detection and the front of the robot
       external_detection_rotation_roll: 0.0
-      external_detection_rotation_pitch: 0.0
-      external_detection_rotation_yaw: 3.14
+      external_detection_rotation_pitch: 1.57
+      external_detection_rotation_yaw:  0.0
+      filter_coef: 0.1
 
       enable_charger_service_call_timeout: 1.0
 
     docks: ["main_dock"]
     main_dock:
       type: panther_charging_dock
-      frame: <robot_namespace>/wibotic_station_link
+      frame: <robot_namespace>/main_dock
       pose: [0.0, 0.0, 0.0] # position of the dock device (not the staging position), the front (X+) of the dock should point away from the robot
 
     controller:

panther_docking/launch/docking.launch.py

@@ -13,8 +13,7 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
 from launch.substitutions import (
     EnvironmentVariable,
     LaunchConfiguration,
@@ -85,25 +84,11 @@ def generate_launch_description():
         namespace=namespace,
     )
 
-    station_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("panther_docking"),
-                    "launch",
-                    "station.launch.py",
-                ]
-            ),
-        ),
-        launch_arguments={"namespace": namespace}.items(),
-    )
-
     return LaunchDescription(
         [
             declare_use_sim_arg,
             declare_namespace_arg,
             declare_docking_server_config_path_arg,
-            station_launch,
             docking_server_node,
             docking_server_activate_node,
         ]

panther_docking/package.xml

@@ -20,9 +20,7 @@
   <depend>opennav_docking</depend>
   <depend>panther_utils</depend>
   <depend>pluginlib</depend>
-  <depend>python3-imageio</depend>
   <depend>rclcpp</depend>
-  <depend>ros_components_description</depend>
   <depend>sensor_msgs</depend>
   <depend>std_srvs</depend>
   <depend>tf2_ros</depend>