06: Auto Docking & Charging

Self charging with Kobuki Docking Station

01. Follow previous guides from this wiki:

The previous wiki documents will help before auto docking:

Getting-Started

02. Bringup your robot:

roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch

03. Initiate auto docking sequence:

The robot can automatically dock with the docking station in an appropriate area and the robot within a 2 meter wide by 5 meter long area in front of the station.

roslaunch kobuki_auto_docking activate.launch

Charging:

Charging will automatically begin when the robot is docked. If you do not have a dock the Kobuki base charger can be used to charge the base battery pack as well as the LiPo connected to the OpenUPS unit.

References:

• http://wiki.ros.org/kobuki/Tutorials/Automatic%20Docking