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Robot Docking

Setup Dependencies

These examples need to be run with python3, and have the Spot SDK installed. See the requirements.txt file for a list of dependencies which can be installed with pip.

python3 -m pip install -r requirements.txt

Dock My Robot Example

Setup Robot

To properly setup for this example:

  1. Have the robot powered off.
  2. Use an external E-Stop endpoint from an api client or tablet.

In addition, to dock:

  1. Have the robot close to the dock so it can see the fiducial, with a clear path between the robot and dock.

Or, to undock:

  1. Have the robot on a dock.

Running the Example

When run with --dock-id, this script will

  • Power on and stand up the robot.
  • Move the robot onto the dock and engage the dock.
  • Will retry if the first attempt fails.
  • Power Off once engaged with the dock

When run with --undock, this script will

  • Power on the robot.
  • Disengage the robot from the dock.
  • Walk forward off the dock.
python3 dock_my_robot.py (--dock-id DOCK_ID | --undock) ROBOT_IP

Try not to interrupt the robot while it's over the dock, loss of comms will make the robot sit on the dock in an incorrect way, possibly causing it to roll over or make it hard to recover autonomously.