E-Con Docking System (ROS 2)

This repository contains a complete ROS 2 package and Yocto-enabled embedded build flow for autonomous corridor docking using Nav2, ArUco marker detection, and battery-aware mode switching.

📁 Repository Structure

GITHUB_ECON_DOCKING/
├── README.md
├── Technical_Manual.md
├── DEMO_Videos/
└── packages_ros2/
    ├── econ_docking/
    │   ├── econ-docking_1.0.bb
    │   └── files/econ_docking/
    │       ├── CMakeLists.txt
    │       ├── package.xml
    │       ├── config/
    │       ├── launch/econ_aruco_docking.launch.py
    │       └── src/
    │           ├── aruco_marker_detector.cpp
    │           ├── battery_monitor_and_docking.cpp
    │           ├── navigate_to_charging_dock_no_nav2.cpp
    │           └── ...
    └── econlidar/
        ├── econlidar_1.0.bb
        └── files/econlidar/
            ├── CMakeLists.txt
            ├── package.xml
            ├── launch/battery_waypoint_docking_launch.py
            └── src/battery_monitor_and_navigate_docking.cpp

🧭 Overview

E-Con Corridor Docking provides:

• Low-battery waypoint navigation and spawn-goal behavior
• Battery manager that switches systemd services between Nav and Dock
• ArUco-based docking approach and docking control service
• Automatic charge/dock/undock and resume navigation
• Yocto build support for embedded deployment

🖼️ Screenshots & Demo

Docking Demo Image

Video

• ▶️ Docking Demo Video

🧩 System Requirements

• Ubuntu 22.04
• ROS 2 Humble
• Nav2
• (if needed) Yocto build environment for embedded image generation

📦 Dependencies Installation

1) Install ROS 2 Humble

sudo apt update
sudo apt install ros-humble-desktop

2) Install Navigation2

sudo apt update
sudo apt install ros-humble-navigation2

3) Install workspace dependencies (run in your ROS 2 workspace root)

cd <your_ros2_workspace>
source /opt/ros/humble/setup.bash
rosdep update
rosdep install --from-paths src --ignore-src -r -y

🚀 Quick Start

Build package

cd <your_ros2_workspace>
colcon build --packages-select econ_docking econlidar
source install/setup.bash

Run docking (manual)

ros2 launch econ_docking econ_aruco_docking.launch.py

🔗 Node Summary (Detailed docs)

See Technical_Manual.md for complete node and topic summary, parameters, and service details.

🧭 Node and Topic Overview

• battery_monitor_and_navigate_docking: publishes /reached_spawn, launches waypoint goals
• battery_monitor_and_docking: manages service transitions, subscribes /battery_info, /reached_spawn, /docking_charged
• aruco_marker_detector: publishes marker detection and offset
• navigate_to_charging_dock_no_nav2: generates cmd_vel, publishes /docking_charged

📌 Notes

• Service names used by code: econ-corridorrun_nav.service, econ-corridorrun_docking.service (and optional e-condocking.service wrapper)
• Configure thresholds and marker ID via launch parameters and config YAML