Add new parameters to config and schema files

config/mower_config.schema.json

@@ -274,6 +274,13 @@
           "description": "Distance in [m] to drive forward after docking.",
           "x-environment-variable": "OM_DOCKING_DISTANCE"
         },
+        "OM_DOCKING_APPROACH_DISTANCE": {
+          "type": "number",
+          "default": 1.5,
+          "title": "Docking Approach Distance",
+          "description": "Distance in [m] from the docking point to start docking.",
+          "x-environment-variable": "OM_DOCKING_APPROACH_DISTANCE"
+        },
         "OM_DOCKING_EXTRA_TIME": {
           "type": "number",
           "default": 0.0,
@@ -301,6 +308,34 @@
           "description": "Distance in [m] to drive for undocking.",
           "x-environment-variable": "OM_UNDOCK_DISTANCE"
         },
+        "OM_UNDOCK_ANGLED_DISTANCE": {
+          "type": "number",
+          "title": "Undock Angled Distance",
+          "default": 0.0,
+          "description": "Distance in [m] to continue driving at an angle for undocking.",
+          "x-environment-variable": "OM_UNDOCK_ANGLED_DISTANCE"
+        },
+        "OM_UNDOCK_ANGLE": {
+          "type": "number",
+          "title": "Undock Angle",
+          "default": 0.0,
+          "description": "Angle in degrees for second stage undocking.",
+          "x-environment-variable": "OM_UNDOCK_ANGLE"
+        },
+        "OM_UNDOCK_FIXED_ANGLE": {
+          "type": "boolean",
+          "title": "Undock Fixed Angle",
+          "default": true,
+          "description": "True to fix the undock angle, false to vary it.",
+          "x-environment-variable": "OM_UNDOCK_FIXED_ANGLE"
+        },
+        "OM_UNDOCK_USE_CURVE": {
+          "type": "boolean",
+          "title": "Undock Use Curve",
+          "default": true,
+          "description": "True to use a curved second stage, false for a straight second stage.",
+          "x-environment-variable": "OM_UNDOCK_USE_CURVE"
+        },
         "OM_OUTLINE_COUNT": {
           "type": "number",
           "default": 4,

config/mower_config.sh.example

@@ -118,6 +118,9 @@ export OM_USE_F9R_SENSOR_FUSION=False
 ################################
 ##    Mower Logic Settings    ##
 ################################
+# Docking starts at this distance from the dock point
+export OM_DOCKING_APPROACH_DISTANCE=1.5
+
 # The distance to drive forward AFTER reaching the second docking point
 export OM_DOCKING_DISTANCE=1.0
 
@@ -130,9 +133,24 @@ export OM_DOCKING_RETRY_COUNT=4
 # Whether to attempt redocking if the voltage is no longer detected after docking.
 export OM_DOCKING_REDOCK=False
 
-# The distance to drive for undocking. This needs to be large enough for the robot to have GPS reception
+# The first stage distance to drive for undocking. As a minimum it needs to clear the dock.
+# If the additional angled move isn't used then this needs to be large enough for the robot to have GPS reception.
 export OM_UNDOCK_DISTANCE=2.0
 
+# The additional second stage distance to drive at an angle for undocking. This needs to be large enough for the robot to have GPS reception.
+# Note - this section may still be driven without gps so don't expect high positional accuracy.
+export OM_UNDOCK_ANGLED_DISTANCE=0.0
+
+# The angle at which to drive for the additional distance (neg values are to the left of the dock, pos to the right).
+export OM_UNDOCK_ANGLE=0.0
+
+# If true will allways use the angle specified.
+# If false will vary the undocking angle between +abs(OM_UNDOCK_ANGLE) to -abs(OM_UNDOCK_ANGLE) on subsequent undocks to reduce grass wear.
+export OM_UNDOCK_FIXED_ANGLE=True
+
+# If true will use a curved second stage undock move, if false will use a straight undock move.
+export OM_UNDOCK_USE_CURVE=True
+
 # Uncomment, if you want to use the perimeter sensor of your Mowgli-type mower
 # for docking. Set it to 1 or 2 dependig on the signal selected on the docking
 # station (S1 or S2).

src/open_mower/launch/open_mower.launch

@@ -15,7 +15,7 @@
     <node pkg="mower_logic" type="mower_logic" name="mower_logic" output="screen">
         <param name="automatic_mode" value="$(optenv OM_AUTOMATIC_MODE 0)"/>
         <param name="docking_distance" value="$(env OM_DOCKING_DISTANCE)"/>
-        <param name="docking_approach_distance" value="$(env OM_DOCKING_APPROACH_DISTANCE)"/>
+        <param name="docking_approach_distance" value="$(env OM_DOCKING_APPROACH_DISTANCE 1.5)"/>
         <param name="docking_extra_time" value="$(optenv OM_DOCKING_EXTRA_TIME 0)"/>
         <param name="docking_retry_count" value="$(optenv OM_DOCKING_RETRY_COUNT 4)"/>
         <param name="docking_redock" value="$(optenv OM_DOCKING_REDOCK False)"/>