Parking done

In order to run a node you need:

1. have a joystick version that supports charging buttons joystick

2. have a charging driver version driver

Be careful!

Joystick package have name "automatic-charging" like package of this repository. You need to clone this in different directories.

Example:

mkdir allpr; cd allpr; git clone <this repo>; git clone <driver repo>; mkdir joystick; cd joystick; git clone <joystick repo>

After cloning the charging driver repository, you need to build it with the command:

dts devel build -f -H <autobot name>

And run charging driver with the command:

docker -H <autobot name>.local run --name charging_driver -v /dev/mem --privileged --network=host -dit --restart unless-stopped -e ROBOT_TYPE=duckiebot docker.io/duckietown/charging-driver:automatic-charging-arm32v7

After cloning the joystick repository, you need to build it with the command:

dts devel build -f

And run it with the command:

dts duckiebot keyboard_control --gui_image duckietown/dt-automatic-charging <autobot name>

After cloning this repository, you need to build and run the project with the command:

dts devel build -f -H <autobot name> && dts devel run -f -H <autobot name>

When all nodes (responsible for parking, charging status and joystick) are running, you can start the parking process

With the active joystick, you need to press the "F" button to start parking or "G" to end it.

Be careful!

Due to the peculiarity of ROS, it is not enough to briefly press "F", in this case it is necessary to hold down "F" for 1-2 seconds