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Fix dock orientation while moving backwards (backport #4530) #4553

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Jul 22, 2024
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Fix dock orientation while moving backwards (backport #4530) #4553

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7 changes: 7 additions & 0 deletions nav2_docking/opennav_docking/src/docking_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -414,6 +414,13 @@ bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped &
geometry_msgs::msg::PoseStamped target_pose = dock_pose;
target_pose.header.stamp = rclcpp::Time(0);

// Make sure that the target pose is pointing at the robot when moving backwards
// This is to ensure that the robot doesn't try to dock from the wrong side
if (dock_backwards_) {
target_pose.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(
tf2::getYaw(target_pose.pose.orientation) + M_PI);
}

// The control law can get jittery when close to the end when atan2's can explode.
// Thus, we backward project the controller's target pose a little bit after the
// dock so that the robot never gets to the end of the spiral before its in contact
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