Autonomous Docking with AprilTags Using Nav2 - ROS 2 Jazzy

In this tutorial, I’ll show you how to enable your robot to dock autonomously using AprilTags and the Nav2 Docking Server. You'll set up AprilTag detection, convert raw camera images for accurate vision processing, and configure your robot to dock with precision in simulation.

What You'll Learn
0:00 Introduction and Overview
0:47 What are AprilTags?
1:28 Understanding AprilTags vs. ArUco Markers
2:27 Getting Started
12:00 Create a Package
16:07 Edit the Camera URDF
17:20 Adding AprilTags to the Gazebo World
19:53 Processing Raw Camera Images into Rectified Images
32:45 Publishing AprilTag Pose with apriltag_ros
53:43 Creating a Detected Dock Pose Publisher Node
59:37 Edit Launch Files
1:01:00 Launch the Robot
1:09:17 Understanding the Docking and Undocking Process
1:12:28 Building a Dock Database File
1:15:17 Configuring the Nav2 Docking Server Parameters
1:17:40 Launching the Complete Docking Pipeline
1:18:55 Sending Dock and Undock Commands via RViz or CLI

By the end of this tutorial, you’ll have a complete AprilTag-based docking system running in simulation, giving you a strong foundation to apply this capability to real robots.

Resources and Links
Complete Tutorial Guide: https://automaticaddison.com/autonomous-docking-with-apriltags-using-nav2-ros-2-jazzy/
Visit My Blog for More Tutorials: https://automaticaddison.com

Connect With Me
LinkedIn: https://www.linkedin.com/company/automaticaddison/
YouTube: https://www.youtube.com/channel/UCyR7hy8XDVnqzBhdpRirOtg

#ros2 #docking #robotics

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