Add tac docking mission#520

Open

Ufuk-a wants to merge 41 commits intomainfrom

ufuk/aruco_board

Contributor

Ufuk-a commented Jan 21, 2026

No description provided.

Ufuk-a force-pushed the ufuk/aruco_board branch 5 times, most recently from 3d5437c to 57e8e88 Compare

January 24, 2026 19:56

eminmeydanoglu requested changes

View reviewed changes

Collaborator

eminmeydanoglu left a comment

Big PR! Left a couple comments

auv_navigation/auv_mapping/scripts/docking_frame_publisher.py Outdated Show resolved Hide resolved

auv_navigation/auv_mapping/scripts/docking_frame_publisher.py Show resolved Hide resolved

auv_navigation/auv_mapping/scripts/docking_frame_publisher.py Outdated Show resolved Hide resolved

auv_navigation/auv_mapping/scripts/docking_frame_publisher.py Outdated Show resolved Hide resolved

auv_smach/launch/start.launch Outdated Show resolved Hide resolved

auv_smach/src/auv_smach/common.py Show resolved Hide resolved

auv_vision/auv_detection/launch/inc/tracker_front.launch Show resolved Hide resolved

auv_smach/src/auv_smach/docking.py Outdated Show resolved Hide resolved

auv_vision/auv_vision/scripts/aruco_board_pose_estimator.py Outdated Show resolved Hide resolved

auv_vision/auv_vision/scripts/aruco_board_pose_estimator.py Show resolved Hide resolved

eminmeydanoglu reviewed

View reviewed changes

auv_vision/auv_vision/scripts/camera_detection_pose_estimator.py Show resolved Hide resolved

Ufuk-a force-pushed the ufuk/aruco_board branch from bebc3a7 to 6baa556 Compare

January 31, 2026 16:41

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/docking.py Outdated Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/docking.py Outdated Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/docking.py Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/docking.py Outdated Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/docking.py Outdated Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/docking.py Outdated Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/docking.py Outdated Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_smach/src/auv_smach/common.py Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_navigation/auv_mapping/scripts/docking_frame_publisher.py Show resolved Hide resolved

melihokur17 reviewed

View reviewed changes

auv_navigation/auv_mapping/launch/start.launch Outdated Show resolved Hide resolved

Ufuk-a force-pushed the ufuk/aruco_board branch 2 times, most recently from 848c796 to 44f9202 Compare

February 9, 2026 14:46

Ufuk-a and others added 10 commits

February 16, 2026 10:51


          added camera.py scriipt that works with the _debug file and _auv file…

89ab301

… to be used in pool tests, also enchanced processing for a pool environment


          used dynamic reconfigure and fixed bugs

0a654fd


          changed board parameters

76f2923


          changed some detection parameters

6271e0e


          updated the auv file

19be755


          reimported tf2_geometry_msgs

d977a0d


          added docking station to gazebo

80ffd65


          Add distance logging and fix dynamic_reconfigure dependency

8aaa96b


          made debug work with gazebo

48fbdde


          added kalman filter, fixed orientation, changed parameters

7e1fa82

Ufuk-a and others added 29 commits

February 16, 2026 10:51


          simulation environment changes

a296034


          fixed topic

a7b477c


          added disabling functionality and a board_detected publisher

90c4a36


          add capability to remap yolo class ids using a service

736b97a


          added tac docking mission and multi-competition capability

044cf6f


          made the pose estimator node publish the static tfs instead of the la…

40efb39

…unch file


          changed thresholds and temporarily changed marker size/offset

a0951d0


          removed debug primnt and changed a value temporarily

ae49dbb


          made camera detectin pose estimator support multiple yolo models

4ca98a6


          improved docking

36aaff0


          cleanup

5250e7e


          temporary skip

2aca136


          updated main state machine to accept competition parameter

f963195


          fixed orientation of station, threaded and compressed debug images, m…

c52cc55

…oved frame creation to a frame publisher, changed names of states and frames


          fixes

218362b


          used correct timestamps


          cleaned up comments

0ec1671


          made fixes

7e29e0a


          made debug image elements larger to suit a higher resolution camera

57549aa


          consolidated launch logic to a single file and updated the simulation…

d5b04ad

… gui to work with it


          got rid of an uneeded state

16afd42


          removed uneeded state and used monitorstate instead and simplified st…

85685a5

…ate flow


          simplified logic in docking

345a4fb


          removed unneeded focus state

80548fa


          cleanup

544404c


          turned off gui when sim is false

521edae

fix

f6d68a6


          feat(docking): use ray casting for docking_station_yolo and fix TF ti…

011737f

…mestamp warnings


          changed the simulation bottom camera to use real values, removed a tr…

125d05f

…ajectory frame, removed unused state, fixes

Ufuk-a force-pushed the ufuk/aruco_board branch from 44f9202 to 125d05f Compare

February 16, 2026 07:54

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Labels

None yet