Docking task #91
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Docking task #91
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Alright! --- Tested using gazebo, however the docking button in the sim at the bottom, not the back. I was able to confirm the ROV could align and make for the button, but not collide due to the shape of the docking station.
Subscribed directly to front-cam, moves the ROV laterally, no pitch or yaw, until the button is in the center of the screen, and then moves towards it while keeping it in the center.