/go_and_dock#
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/go_and_dock Quick Facts
- Category
- 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
How to use in your code#
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())
Call the action using
SimpleActionClient##include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <dock_charge_sm_msgs/GoAndDockAction.h>
int main (int argc, char **argv)
{
ros::init(argc, argv, "go_and_dock_action_client");
// create the action client
// true causes the client to spin its own thread
actionlib::SimpleActionClient<:dock_charge_sm_msgs::GoAndDockAction> ac("/go_and_dock", true);
ROS_INFO("Waiting for action server to start.");
// wait for the action server to start
ac.waitForServer(); //will wait for infinite time
ROS_INFO("Action server started, sending goal.");
// send a goal to the action
dock_charge_sm_msgs::GoAndDockGoal goal;
// check the dock_charge_sm_msgs/GoAndDockGoal message
// definition for the possible goal parameters
// goal.... = ...;
ac.sendGoal(goal);
//wait for the action to return
bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
if (finished_before_timeout)
{
actionlib::SimpleClientGoalState state = ac.getState();
ROS_INFO("Action finished: %s",state.toString().c_str());
}
else
{
ROS_INFO("Action did not finish before the time out.");
ac.cancelGoal();
}
return 0;
}
You can also access this action from a webpage displayed on the robot’s touchscreen via this endpoint:
http://<robot>-0c/action/dock
(replace <robot>-0c by the serial number of your own robot).
See REST interface for the general documentation of the REST endpoints and code samples.