Reached
Navigation reports that the configured dock goal pose has been reached. This proves route completion under navigation tolerances, not correct charger alignment.
NAVIGATIONGO2 AUTOCHARGE / STATE-BOUND DIAGNOSIS
TIMEOUT_DETECT is not yet a charger-contact failure
When navigation reaches the dock pose and autocharge reports `TIMEOUT_DETECT`, diagnose perception and final alignment before electrical contact. A later `TIMEOUT_CONNECT_POWER` is the state that points toward contact mating.
01 / STATES
Do not collapse two failures into one
Go to board
The autocharge module begins its local dock approach and attempts to acquire the expected dock-plate geometry.
DETECTION ACTIVETimeout detect
The reviewed source interprets this as the plate not being seen or aligned. Point cloud, plate return, final yaw/lateral error and detection distance remain in scope.
NO CONNECTINGConnecting
Reaching this state is the evidence that local plate detection succeeded and the module moved to the contact attempt.
PLATE FOUNDTimeout power
Only this later failure directs the investigation toward mechanical mating, charger contact and electrical confirmation.
CONTACT STAGE02 / SOURCE
What the reviewed project proves
| SOURCE FACT | DIAGNOSTIC USE | PUBLIC EVIDENCE |
|---|---|---|
| The project documents a LiDAR-only detector for a flat 300 × 200 mm cluster. | Do not assume the visible AprilTag is the input that this module is waiting for. | slam.md L213–228 |
| Default `plate_distance` is documented as 0.47 m. | Tune only after point-cloud stability and final pose are measured. | mapping-page.ts L738–767 |
| The UI maps `TIMEOUT_DETECT` to dock plate not detected. | Keep power-contact troubleshooting out of the first diagnostic branch. | mapping-page.ts L1810–1822 |
| A public issue trace includes earlier `TIMEOUT_POINTCLOUD` and later repeated `TIMEOUT_DETECT`. | Intermittent point-cloud health is a prerequisite check, not background noise. | unitree_ui issue #10 |
Boundary: these semantics are tied to the cited open-source revision and its reverse-engineered interface description. Confirm the exact Go2 model, firmware and app/module behavior before treating them as a universal Unitree contract.
03 / ORDER
Diagnostic sequence
- 01Verify the live point cloud remains continuous through the last metre of approach. Resolve recurring `TIMEOUT_POINTCLOUD` before changing autocharge thresholds.
- 02Record the final point cloud and identify whether the expected flat dock-plate cluster is visible at the required height and orientation.
- 03Measure lateral offset and yaw when navigation reports `REACHED`. A pose inside navigation tolerance can still be outside the local detector's useful geometry.
- 04Check occlusion and return quality from the robot body, nearby objects, wall geometry and the dock surface. Change one physical variable at a time.
- 05Only after steps 1–4 pass, increase plate distance modestly above the documented 0.47 m default and repeat a single controlled approach.
- 06Use the transition to `CONNECTING` as the branch gate. If it appears, move to contact alignment; if it does not, stay on the perception/pose branch.
04 / CAPTURE
Minimum evidence for a useful comparison
| ITEM | WHY IT MATTERS |
|---|---|
| Exact Go2 model and firmware/app version | Autocharge interfaces and state semantics may differ by hardware and firmware. |
| LiDAR mode plus timestamped point-cloud health | Separates a detector-geometry problem from an upstream perception dropout. |
| Last-metre point cloud and state trace | Shows the expected plate return and the exact state where progress stops. |
| Final pose, lateral error and yaw | Tests whether navigation tolerance is too loose for local dock acquisition. |
| One parameter change per run | Preserves causality; repeated automatic retries to the same pose are weak evidence. |
Keep people and movable obstacles clear, maintain access to the remote or emergency stop and use conservative motion limits during every docking test.
Need a Go2-W docking or navigation trace reviewed?
Send the model, firmware, point cloud, final pose and state transitions. The first deliverable is a bounded diagnosis that keeps perception, navigation and contact failure separate.