/go_and_dock

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/go_and_dock Quick Facts

Category

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Message type

dock_charge_sm_msgs/GoAndDock

Sends the robot to the Dokstation POI and once reached it starts the docking manouver

Quick snippets

Send a goal from the command-line

$ rostopic pub /go_and_dock/goal dock_charge_sm_msgs/GoAndDockActionGoal # press Tab to complete the message prototype

Call the action from a Python script

#!/usr/bin/env python

import rospy
import actionlib
from dock_charge_sm_msgs.msg import *


if __name__ == "__main__":

    client = actionlib.SimpleActionClient("/go_and_dock", dock_charge_sm_msgs.msg.GoAndDockAction)
    client.wait_for_server()

    # check the dock_charge_sm_msgs/GoAndDockGoal message
    # definition for the possible goal parameters
    goal = dock_charge_sm_msgs.msg.GoAndDockGoal(param1=..., param2=...)

    client.send_goal(goal)
    client.wait_for_result()

    rospy.loginfo("Action returned: %s" % client.get_result())

REST endpoint

You can also access this action from a webpage displayed on the robot’s touchscreen via this endpoint:

http://ari-0c/action/dock

(replace ari-0c by the serial number of your own robot).

See REST interface for the general documentation of the REST endpoints and code samples.